CN113126637A - Unmanned aerial vehicle set-based lighting method and system - Google Patents
Unmanned aerial vehicle set-based lighting method and system Download PDFInfo
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Abstract
The application provides a lighting method based on an unmanned aerial vehicle set, S1, when a lift-off condition is triggered, all unmanned aerial vehicles in the unmanned aerial vehicle set turn on a lighting system and lift off to a preset position and height; s2, communicating all unmanned aerial vehicles in the unmanned aerial vehicle set with other unmanned aerial vehicles to determine a master control unmanned aerial vehicle; s3, the main control unmanned aerial vehicle awakens the camera modules of all unmanned aerial vehicles to shoot real-time video pictures of the ground, and then determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures. Compared with the prior art, the scheme of the application neither needs to build a lighting system support nor is limited by geographical conditions, and can efficiently and stably build the lighting of a special outdoor scene.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to an illumination method and system based on an unmanned aerial vehicle set.
Background
In the construction site (for example, temporary medical site for epidemic situation) set up in response to some emergency situations, the construction site usually does not have the geographical condition of quickly building up the lighting system, and the lighting system is usually assumed to be on a support with a certain height, and the erection of the support also requires time and is limited by the site condition.
Therefore, how to provide fast, stable and reliable illumination for these scenes is a technical problem that needs to be solved at present.
Disclosure of Invention
In order to solve the technical problems, the application provides an unmanned aerial vehicle set-based lighting method and system so as to realize the quick construction of a lighting system under certain specific scenes.
A first aspect of the application provides an unmanned aerial vehicle-based lighting method, wherein the unmanned aerial vehicle is provided with a processing module, a lighting module, a camera module, a power supply module and a communication module; the method comprises the following steps:
s1, when the lift-off condition is triggered, all unmanned aerial vehicles in the unmanned aerial vehicle set turn on the lighting system and lift off to a preset position and height;
s2, communicating all unmanned aerial vehicles in the unmanned aerial vehicle set with other unmanned aerial vehicles to determine a master control unmanned aerial vehicle;
s3, the main control unmanned aerial vehicle awakens the camera modules of all unmanned aerial vehicles to shoot real-time video pictures of the ground, and then determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures.
Optionally, the camera module is disposed at a central position of the illumination module.
Optionally, all unmanned aerial vehicles in the unmanned aerial vehicle group communicate with other unmanned aerial vehicles to determine master control unmanned aerial vehicle, include:
sending handshake signals among the unmanned aerial vehicles, determining the priority of each unmanned aerial vehicle based on the handshake signals, and determining the unmanned aerial vehicle with the highest priority as the master control unmanned aerial vehicle; wherein the handshake signals include: one or more of power supply type, controlled mode and whether to master the identification.
Optionally, the master control unmanned aerial vehicle determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video picture, including:
the processing module of the master control unmanned aerial vehicle processes the real-time video pictures of the camera systems to identify the boundary of the target illumination area, and then the range of the target illumination area is drawn; calculating a target illumination sub-area of each unmanned aerial vehicle; and calculating the reasonable hovering height of each unmanned aerial vehicle based on the irradiation angle, the real-time height and the boundary of the target illumination subarea of each unmanned aerial vehicle illumination system.
Optionally, the real-time height is a vertical height of the drone to the ground.
Optionally, the boundaries of the target illumination area are determined by a manual marking device.
Optionally, the power supply module is a storage battery.
Optionally, the method further comprises: the drone may send an off-team charging request to the master drone.
Optionally, based on the off-post charging request of the unmanned aerial vehicle, the master unmanned aerial vehicle controls the unmanned aerial vehicle around the unmanned aerial vehicle to increase the hovering height so as to cover the original lighting subarea of the unmanned aerial vehicle, and then sends an off-team charging request to the unmanned aerial vehicle.
The second aspect of the application provides a lighting system based on an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a processing module, a lighting module, a camera module, a power supply module and a communication module; the unmanned aerial vehicle set comprises at least one master unmanned aerial vehicle;
the main control unmanned aerial vehicle is determined by all unmanned aerial vehicles in the unmanned aerial vehicle set communicating with other unmanned aerial vehicles; and the master control unmanned aerial vehicle is used for awakening the camera modules of all the unmanned aerial vehicles so as to shoot real-time video pictures on the ground, and then determining the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures.
Optionally, the camera module is disposed at a central position of the illumination module.
Optionally, by all unmanned aerial vehicles in the unmanned aerial vehicle group communicate with other unmanned aerial vehicles and determine master control unmanned aerial vehicle includes:
sending handshake signals among the unmanned aerial vehicles, determining the priority of each unmanned aerial vehicle based on the handshake signals, and determining the unmanned aerial vehicle with the highest priority as the master control unmanned aerial vehicle; wherein the handshake signals include: one or more of power supply type, controlled mode and whether to master the identification.
Optionally, the master control unmanned aerial vehicle determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video picture, including:
the processing module of the master control unmanned aerial vehicle processes the real-time video pictures of the camera systems to identify the boundary of the target illumination area, and then the range of the target illumination area is drawn; calculating a target illumination sub-area of each unmanned aerial vehicle; and calculating the reasonable hovering height of each unmanned aerial vehicle based on the irradiation angle, the real-time height and the boundary of the target illumination subarea of each unmanned aerial vehicle illumination system.
Optionally, the real-time height is a vertical height of the drone to the ground.
Optionally, the boundaries of the target illumination area are determined by a manual marking device.
Optionally, the power supply module is a storage battery.
Optionally, the non-master drone sends the charging request to the master drone through the communication module.
Optionally, the communication module of the master drone sends a charging request of the drone leaving behind to the processing module, and the processing module sends a command for work to the peripheral drones of the drone to control the peripheral drones to increase the hovering height so as to cover the original lighting sub-area of the drone; then, the processing module of the master control unmanned aerial vehicle sends an agreement to leave the queue to charge to the unmanned aerial vehicle through the communication module.
This application third aspect provides an electronic equipment, this electronic equipment sets up in unmanned aerial vehicle, equipment includes:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to perform the method steps as described above.
A fourth aspect of the present application provides a computer storage medium configured for use with a drone, the storage medium storing computer instructions for performing the method steps as described above when the computer instructions are invoked.
The invention has the beneficial effects that: based on the scheme of this application, lighting system constructor can carry unmanned aerial vehicle group and get into the job site in advance, then control each unmanned aerial vehicle group and lift off, then, the unmanned aerial vehicle group selects out master control unmanned aerial vehicle by oneself, and then gives each unmanned aerial vehicle distribution illumination sub-area's illumination task by master control unmanned aerial vehicle, still calculates each unmanned aerial vehicle's reasonable height of hovering based on real-time on-the-spot video picture to the realization is to the total coverage illumination of job site. Compared with the prior art, the scheme of the application neither needs to build a lighting system support nor is limited by geographical conditions, and can efficiently and stably build the lighting of a special outdoor scene.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flowchart of an unmanned aerial vehicle based lighting method according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle group-based lighting system disclosed in the second embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device disclosed in the third embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the present invention product is usually put into use, it is only for convenience of describing the present application and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
Example 1
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an illumination method based on an unmanned aerial vehicle set according to an embodiment of the present application. As shown in fig. 1, a first aspect of the present application provides an unmanned aerial vehicle-based lighting method, the unmanned aerial vehicle being equipped with a processing module, a lighting module, a camera module, a power supply module, and a communication module; the method comprises the following steps:
s1, when the lift-off condition is triggered, all unmanned aerial vehicles in the unmanned aerial vehicle set turn on the lighting system and lift off to a preset position and height;
s2, communicating all unmanned aerial vehicles in the unmanned aerial vehicle set with other unmanned aerial vehicles to determine a master control unmanned aerial vehicle;
s3, the main control unmanned aerial vehicle awakens the camera modules of all unmanned aerial vehicles to shoot real-time video pictures of the ground, and then determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures.
In the embodiment of the application, a technician of the lighting system only needs to carry the unmanned aerial vehicle to a construction site needing lighting, then the unmanned aerial vehicle can lift off by self, and selects the master control unmanned aerial vehicle in the air by self, and then carries out image recognition on the site through a camera module equipped for the unmanned aerial vehicle so as to determine the area range needing lighting; then, the area range is cut into a plurality of sub-areas and distributed to each unmanned aerial vehicle for going; then, each unmanned aerial vehicle continues to send real-time video pictures, and the main control unmanned aerial vehicle determines the reasonable hovering height of each unmanned aerial vehicle based on the pictures, so that the full-coverage illumination of the construction site is realized. Compared with the prior art, the scheme of the application neither needs to build a lighting system support nor is limited by geographical conditions, and can efficiently and stably build the lighting of a special outdoor scene.
Optionally, the camera module is disposed at a central position of the illumination module.
Wherein, in order to avoid lighting module's highlight to produce the influence to camera module, this application sets up camera module in lighting module's central point and puts, so, lighting module's light just can not penetrate camera module directly, just can not influence the clear shooting ground video image of camera module yet. Meanwhile, in order to further reduce direct light, a light shield can be arranged on the periphery of the camera module. In order to prevent the camera module from being damaged by the heat emitted from the illumination module, a heat insulating material, such as a reflective heat insulating material or a low thermal conductivity material, needs to be provided outside the camera module.
Optionally, all unmanned aerial vehicles in the unmanned aerial vehicle group communicate with other unmanned aerial vehicles to determine master control unmanned aerial vehicle, include:
sending handshake signals among the unmanned aerial vehicles, determining the priority of each unmanned aerial vehicle based on the handshake signals, and determining the unmanned aerial vehicle with the highest priority as the master control unmanned aerial vehicle; wherein the handshake signals include: one or more of power supply type, controlled mode and whether to master the identification.
The power supply type comprises an electric storage type/power supply cable type and can reflect the continuous power supply capacity of the unmanned aerial vehicle; the controlled mode comprises a self-control mode/a remote control mode, wherein the remote control mode reflects that the unmanned aerial vehicle is controlled by the ground and can be preferentially used as a master control unmanned aerial vehicle; and the master control sign is preset by the unmanned aerial vehicle staff, and this unmanned aerial vehicle is appointed as master control unmanned aerial vehicle to the staff promptly. During the concrete implementation, each unmanned aerial vehicle is when receiving other unmanned aerial vehicle's handshake signal, can be to each unmanned aerial vehicle (including self unmanned aerial vehicle) power supply type, controlled mode, whether master control sign judges in proper order, and with whether master control sign, controlled mode, power supply type judges each unmanned aerial vehicle's master control priority respectively for priority descending order, then confirm the unmanned aerial vehicle that master control priority is the highest as master control unmanned aerial vehicle, and send respectively to this master control unmanned aerial vehicle and accept the master control feedback signal, this master control unmanned aerial vehicle is after receiving all other unmanned aerial vehicle's acceptance master control feedback signal, establish the communication connection with all other unmanned aerial vehicles.
In addition, the job site may be too big, and single master control unmanned aerial vehicle may be subject to communication distance and can't guarantee the management and control to controlled unmanned aerial vehicle this moment, so, an alternative scheme of this application has set up master control unmanned aerial vehicle can be a plurality of, then, with aforementioned scheme difference lie in: determining N unmanned aerial vehicles with the top N in the master control priority ranking as master control unmanned aerial vehicles, and respectively sending master control feedback receiving signals to the N master control unmanned aerial vehicles, wherein after the N master control unmanned aerial vehicles receive the master control feedback receiving signals of other unmanned aerial vehicles except the N master control unmanned aerial vehicles, the N master control unmanned aerial vehicles determine a master control scheme through a negotiation algorithm, namely the number of the unmanned aerial vehicles controlled by each master control unmanned aerial vehicle and I D are negotiated, and then, the N master control unmanned aerial vehicles respectively establish communication connection with respective controlled unmanned aerial vehicles; wherein N is more than or equal to 1.
The negotiation algorithm may be:
the master control unmanned aerial vehicle acquires the importance degree of each sub-area of the target illumination area from a remote controller of ground staff, and then determines the controlled grouping based on the importance degree and the residual electric quantity of each unmanned aerial vehicle. For example, the master control unmanned aerial vehicle may obtain a construction drawing of an illumination area from the remote controller, and identify the drawing to determine the importance degree of each area in the drawing (in addition, in order to reduce the processing load of the master control unmanned aerial vehicle, importance degree marking may be performed on each area of the drawing in advance), for areas with higher importance degree (for example, heavy machinery construction areas, field command departments), more unmanned aerial vehicles may be configured for the master control unmanned aerial vehicle, and unmanned aerial vehicles with more remaining electric quantity are preferred to ensure the continuous illumination capability and intensity of the area; and to non-construction areas such as parking area, then arrange some master control unmanned aerial vehicle control less unmanned aerial vehicle go to can, also can not do too much requirement to unmanned aerial vehicle's surplus electric quantity. Of course, the negotiation algorithm may also be determined based on other factors, for example, when there is a hill in the middle of a certain sub-area, one drone may be respectively disposed on both sides of the hill, so as to avoid the occlusion of the mountain when a single drone illuminates.
Optionally, the master control drone determines a reasonable hovering height of each drone based on the real-time video picture, including:
the processing module of the master control unmanned aerial vehicle processes the real-time video pictures of the camera systems to identify the boundary of the target illumination area, and then the range of the target illumination area is drawn; calculating a target illumination sub-area of each unmanned aerial vehicle; and calculating the reasonable hovering height of each unmanned aerial vehicle based on the irradiation angle, the real-time height and the boundary of the target illumination subarea of each unmanned aerial vehicle illumination system.
In this application embodiment, can not be through the unmanned aerial vehicle remote controller, only need set up "start" button on unmanned aerial vehicle can, after pressing this button, unmanned aerial vehicle will fly to predetermined height by oneself earlier, for example 10m height, then independently carry out work such as master control unmanned aerial vehicle pushes away the selection. Then, a processing module of the master control unmanned aerial vehicle identifies a construction site boundary, namely a boundary of a target illumination area, from a real-time video picture shot by a camera system of each unmanned aerial vehicle, calculates a target illumination sub-area of each unmanned aerial vehicle, and controls each unmanned aerial vehicle to move to the sub-area of the unmanned aerial vehicle; the main control unmanned aerial vehicle calculates reasonable hovering height based on the irradiation angle, the real-time height and the boundary of the target illumination subarea of each unmanned aerial vehicle illumination system, and then each unmanned aerial vehicle can control the unmanned aerial vehicle to rise or fall to the reasonable hovering height after comparing the real-time height with the reasonable hovering height so as to finally realize the full illumination coverage of a construction site.
For the calculation of the reasonable hover height, the following is:
in the formula, h is a reasonable hovering height, x is an equivalent diameter of a target illumination area, and theta is an illumination angle of the unmanned aerial vehicle illumination system. Wherein the equivalent diameter x is a straight-line distance between two farthest points of the boundary of the target illumination area, so as to realize full-coverage illumination of the target illumination area.
Optionally, the real-time altitude should not be an altitude, but should be a vertical altitude of the drone to the ground.
Optionally, the boundaries of the target illumination area are determined by a manual marking device.
The method comprises the following steps that 1) a processing module processes a video picture by adopting a computer vision recognition technology to determine the boundary of a surrounding residential building and uses the boundary as the boundary of the target illumination area. 2) A plurality of marking devices such as infrared marking devices or ground lamps with high-penetrability colors are manually arranged on the boundary of a construction site in advance, the processing module also adopts a computer vision recognition technology to recognize the artificial marking devices, and then the positions of the artificial marking devices are sequentially connected, so that the boundary of a target illumination area can be obtained.
Optionally, the power supply module is a storage battery.
Optionally, the method further comprises: the drone may send an off-team charging request to the master drone.
Optionally, based on the off-post charging request of the unmanned aerial vehicle, the master unmanned aerial vehicle controls the unmanned aerial vehicle around the unmanned aerial vehicle to increase the hovering height so as to cover the original lighting subarea of the unmanned aerial vehicle, and then sends an off-team charging request to the unmanned aerial vehicle.
In this embodiment of the application, because the unmanned aerial vehicle is the battery power supply (master control unmanned aerial vehicle can be for the cable power supply, also can be for the battery power supply), so it needs to be charged off duty, however, because of the consideration of cost and on-the-spot actual conditions, the quantity of unmanned aerial vehicle sometimes can not be abundant. At this moment, in order to realize incessant of illumination, this application sets up main control unmanned aerial vehicle when receiving the request of charging off duty, will request a plurality of unmanned aerial vehicles at unmanned aerial vehicle table to improve its height of hovering in order to illuminate for a shift, and then make the illumination coverage of these unmanned aerial vehicles can cover the original illumination subregion of requesting unmanned aerial vehicle, so can realize incessant of illumination, the specific calculation mode of the height of hovering after rising also can refer to aforementioned formula, or by a plurality of unmanned aerial vehicles progressively adjust the height of hovering and confirm whether to have realized the illumination of requesting the original illumination subregion of unmanned aerial vehicle through image recognition's mode by camera module, if realized, then keep this height of hovering. Correspondingly, when the request unmanned aerial vehicle returns to work, a request return signal is sent to the master control unmanned aerial vehicle, and the master control unmanned aerial vehicle controls the previous unmanned aerial vehicles to reduce to the original hovering heights so as to finish work generation.
Example 2
Referring to fig. 2, fig. 2 is a schematic structural diagram of an illumination system based on an unmanned aerial vehicle according to an embodiment of the present application, where the system corresponds to the method according to the first embodiment. As shown in fig. 2, a second aspect of the present application provides an unmanned aerial vehicle-based lighting system, the unmanned aerial vehicle being equipped with a processing module, a lighting module, a camera module, a power supply module, and a communication module; the unmanned aerial vehicle set comprises at least one master unmanned aerial vehicle;
the main control unmanned aerial vehicle is determined by all unmanned aerial vehicles in the unmanned aerial vehicle set communicating with other unmanned aerial vehicles; and the master control unmanned aerial vehicle is used for awakening the camera modules of all the unmanned aerial vehicles so as to shoot real-time video pictures on the ground, and then determining the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures.
Optionally, the camera module is disposed at a central position of the illumination module.
Optionally, by all unmanned aerial vehicles in the unmanned aerial vehicle group communicate with other unmanned aerial vehicles and determine master control unmanned aerial vehicle includes:
sending handshake signals among the unmanned aerial vehicles, determining the priority of each unmanned aerial vehicle based on the handshake signals, and determining the unmanned aerial vehicle with the highest priority as the master control unmanned aerial vehicle; wherein the handshake signals include: one or more of power supply type, controlled mode and whether to master the identification.
Optionally, the master control unmanned aerial vehicle determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video picture, including:
the processing module of the master control unmanned aerial vehicle processes the real-time video pictures of the camera systems to identify the boundary of the target illumination area, and then the range of the target illumination area is drawn; calculating a target illumination sub-area of each unmanned aerial vehicle; and calculating the reasonable hovering height of each unmanned aerial vehicle based on the irradiation angle, the real-time height and the boundary of the target illumination subarea of each unmanned aerial vehicle illumination system.
Optionally, the real-time height is a vertical height of the drone to the ground.
Optionally, the boundaries of the target illumination area are determined by a manual marking device.
Optionally, the power supply module is a storage battery.
Optionally, the non-master drone sends the charging request to the master drone through the communication module.
Optionally, the communication module of the master drone sends a charging request of the drone leaving behind to the processing module, and the processing module sends a command for work to the peripheral drones of the drone to control the peripheral drones to increase the hovering height so as to cover the original lighting sub-area of the drone; then, the processing module of the master control unmanned aerial vehicle sends an agreement to leave the queue to charge to the unmanned aerial vehicle through the communication module.
Example 3
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 3, the third aspect of the present application provides an electronic device, where the electronic device is disposed on an unmanned aerial vehicle, and the electronic device includes:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to perform the method steps as described in embodiment one.
Example 4
The present embodiment provides a computer storage medium, which is disposed in an unmanned aerial vehicle, and the storage medium stores computer instructions, and when the computer instructions are called, the computer instructions are used to execute the method steps according to the first embodiment.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An unmanned aerial vehicle-based lighting method comprises the following steps that the unmanned aerial vehicle is provided with a processing module, a lighting module, a camera module, a power supply module and a communication module; the method comprises the following steps:
s1, when the lift-off condition is triggered, all unmanned aerial vehicles in the unmanned aerial vehicle set turn on the lighting system and lift off to a preset position and height;
s2, communicating all unmanned aerial vehicles in the unmanned aerial vehicle set with other unmanned aerial vehicles to determine a master control unmanned aerial vehicle;
s3, the main control unmanned aerial vehicle awakens the camera modules of all unmanned aerial vehicles to shoot real-time video pictures of the ground, and then determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures.
2. The method of claim 1, wherein: the camera module is arranged at the center of the lighting module.
3. The method of claim 1, wherein: all unmanned aerial vehicles in the unmanned aerial vehicle group communicate with other unmanned aerial vehicles to determine master control unmanned aerial vehicle, include:
sending handshake signals among the unmanned aerial vehicles, determining the priority of each unmanned aerial vehicle based on the handshake signals, and determining the unmanned aerial vehicle with the highest priority as the master control unmanned aerial vehicle; wherein the handshake signals include: one or more of power supply type, controlled mode and whether to master the identification.
4. The method of claim 1, wherein: the main control unmanned aerial vehicle determines the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures, and the method comprises the following steps:
the processing module of the master control unmanned aerial vehicle processes the real-time video pictures of the camera systems to identify the boundary of the target illumination area, and then the range of the target illumination area is drawn; calculating a target illumination sub-area of each unmanned aerial vehicle; and calculating the reasonable hovering height of each unmanned aerial vehicle based on the irradiation angle, the real-time height and the boundary of the target illumination subarea of each unmanned aerial vehicle illumination system.
5. The method of claim 4, wherein: the real-time height is the vertical height from the unmanned aerial vehicle to the ground.
6. The method according to claim 4 or 5, characterized in that: the boundaries of the target illumination area are determined by a manual marking device.
7. The method of claim 1, wherein: the power supply module is a storage battery.
8. The method of claim 1, wherein: the method further comprises the following steps: the drone may send an off-team charging request to the master drone.
9. The method of claim 8, wherein: based on unmanned aerial vehicle's charge request of leaving the post, main control unmanned aerial vehicle controls the peripheral unmanned aerial vehicle of this unmanned aerial vehicle earlier and improves the height of hovering to cover the original illumination subregion of this unmanned aerial vehicle, then send again and agree to leave the team charge request to unmanned aerial vehicle.
10. An illumination system based on unmanned aerial vehicle group which characterized in that: the unmanned aerial vehicle is provided with a processing module, an illuminating module, a camera module, a power supply module and a communication module; the unmanned aerial vehicle set comprises at least one master unmanned aerial vehicle;
the main control unmanned aerial vehicle is determined by all unmanned aerial vehicles in the unmanned aerial vehicle set communicating with other unmanned aerial vehicles; and the master control unmanned aerial vehicle is used for awakening the camera modules of all the unmanned aerial vehicles so as to shoot real-time video pictures on the ground, and then determining the reasonable hovering height of each unmanned aerial vehicle based on the real-time video pictures.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105346727A (en) * | 2015-10-30 | 2016-02-24 | 嘉兴亚欧光电科技有限公司 | Unmanned aerial vehicle carrying lighting lamp |
| CN105813346A (en) * | 2016-03-18 | 2016-07-27 | 夏士桀 | Internet of things based intelligent lighting system employing unmanned aerial vehicle |
| CN110087989A (en) * | 2016-12-14 | 2019-08-02 | 福特汽车公司 | Car lighting based on unmanned plane |
| CN206563910U (en) * | 2017-03-21 | 2017-10-17 | 合肥佳讯科技有限公司 | A kind of multi-rotor unmanned aerial vehicle illuminated in the air with high brightness |
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| CN113126637B (en) | 2022-12-23 |
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