CN113744673B - Ground-air linkage projection system and method - Google Patents
Ground-air linkage projection system and method Download PDFInfo
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- CN113744673B CN113744673B CN202110940773.8A CN202110940773A CN113744673B CN 113744673 B CN113744673 B CN 113744673B CN 202110940773 A CN202110940773 A CN 202110940773A CN 113744673 B CN113744673 B CN 113744673B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F19/00—Advertising or display means not otherwise provided for
- G09F19/12—Advertising or display means not otherwise provided for using special optical effects
- G09F19/18—Advertising or display means not otherwise provided for using special optical effects involving the use of optical projection means, e.g. projection of images on clouds
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/54—Accessories
- G03B21/56—Projection screens
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Abstract
The invention provides a ground-air linkage projection system and a ground-air linkage projection method; the ground-air linkage projection system comprises: an aerostat cluster comprising a plurality of aerostats; the cluster control module is respectively connected with the aerostats in a communication way and is used for coordinating the movement of the aerostats in the air so as to control and adjust the air state of the aerostats; the media control module is in communication connection with the cluster control module and is used for acquiring the air state data of the aerostat cluster and adjusting the media image data according to the air state data of the aerostat cluster; the projection control module is in communication connection with the media control module and is used for controlling and adjusting the projection direction of the ground projection lamplight according to the air state data of the aerostat cluster and the adjusted media image data, so that an image is projected on the aerostat cluster. The ground-air linkage projection system and the ground-air linkage projection method have the advantages of long endurance time, stable playing, large image size, wide viewing angle and the like.
Description
Technical Field
The invention relates to the technical field of aerial images, in particular to a ground-air linkage projection system and a ground-air linkage projection method.
Background
At present, the aerial image technology is divided into two main categories according to different positions of image equipment: the first type is an onboard image device type, and the most common case is to compose a lamplight dot matrix by a plurality of unmanned aerial vehicles so as to display different graphic characters; the technology has the defects of extremely low resolution, short duration, narrow viewing angle and the like. The second type is ground image equipment type, the most common case is ground deployment projection equipment, and an image is formed by taking medium such as smoke curtain, water curtain and the like in the air as a projection curtain; the technology has the defects of high cost, low contrast, unstable medium and the like.
Disclosure of Invention
The invention provides a ground-air linkage projection system and a ground-air linkage projection method aiming at the technical problems.
The invention provides the following technical scheme:
the invention provides a ground-air linkage projection system, which comprises:
an aerostat cluster comprising a plurality of aerostats for image projection;
the cluster control module is respectively connected with the aerostats in a communication way and is used for coordinating the movement of the aerostats in the air so as to control and adjust the air state of the aerostats;
the media control module is in communication connection with the cluster control module and is used for acquiring the air state data of the aerostat cluster and adjusting the media image data according to the air state data of the aerostat cluster;
the projection control module is in communication connection with the media control module and is used for controlling and adjusting the projection direction of the ground projection lamplight according to the air state data of the aerostat cluster and the adjusted media image data, so that an image is projected on the aerostat cluster.
In the above ground-air linkage projection system of the present invention, the cluster control module includes:
the ground-air communication unit is respectively in communication connection with the aerostats and is used for acquiring flight state data of each aerostats in the aerostats cluster;
the cluster control unit is in communication connection with the ground-air communication unit and is used for adjusting the air action of each aerostat according to the flight state data of each aerostat in the aerostat cluster, so that the control and adjustment of the air state of the aerostat cluster are realized.
In the ground-air linkage projection system, the air state data of the aerostat cluster comprises the flight state data of all aerostats; the flight state data comprises positioning coordinate data and heading angle data; the positioning coordinate data of an ith aerostat in the aerostat cluster is marked as Li, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats in the aerostat cluster;
the cluster control unit is used for selecting one aerostat in the aerostat cluster as a central node aerostat; wherein, the central node aerostat is the k aerostat in the aerostat cluster, and there are:
the cluster control unit is also used for calculating and obtaining target coordinate data of each aerostat in the aerostat cluster according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster and the preset safety distance between the aerostats in the aerostat cluster;
and is also used for respectively driving each aerostat to move to the corresponding target coordinate data; and the heading angle of each aerostat is respectively adjusted so that the orientations of all aerostats of the aerostat cluster are consistent.
In the above-mentioned ground-air linkage projection system, the media image data includes an image proportion, an image size and an image projection angle;
the media control module is used for adjusting the image proportion according to the arrangement shape and size of the aerostat clusters in the air;
the method is also used for adjusting the size of the image according to the target coordinate data of the aerostat cluster;
and the trapezoidal correction is also used for carrying out trapezoidal correction on the image projection angle according to the heading angle of the aerostat cluster and the target coordinate data.
In the above-mentioned ground-air linkage projection system of the present invention, the aerostat includes an airbag main body, and a maneuvering portion mounted on the airbag main body for controlling the airbag main body to move in the air or to remain hovering.
In the ground-air linkage projection system, the covering material of the air bag main body adopts an alumina-plated composite material, a silica-plated composite material or modified PE.
The invention also provides a ground-air linkage projection method, which comprises the following steps:
step S0, providing an aerostat cluster; the aerostat cluster comprises a plurality of aerostats and a plurality of floating units, wherein the aerostats are used for image projection;
step S1, coordinating the movement of a plurality of aerostats in the air, thereby controlling and adjusting the air state of the aerostats;
s2, acquiring air state data of the aerostat cluster, and adjusting media image data according to the air state data of the aerostat cluster;
and S3, controlling and adjusting the projection direction of the ground projection lamp light according to the air state data of the aerostat cluster and the adjusted media image data, so as to project images on the aerostat cluster.
In the above ground-air linkage projection method of the present invention, step S1 includes:
acquiring flight state data of each aerostat in the aerostat cluster;
and adjusting the air action of each aerostat according to the flight state data of each aerostat in the aerostat cluster, thereby realizing the control adjustment of the air state of the aerostat cluster.
In the ground-air linkage projection method, the air state data of the aerostat cluster comprises the flight state data of all aerostats; the flight state data comprises positioning coordinate data and heading angle data;
the step S2 comprises the following steps:
the positioning coordinate data of an ith aerostat in an aerostat cluster is marked as Li in advance, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats in the aerostat cluster;
selecting one aerostat in the aerostat cluster as a central node aerostat; wherein, the central node aerostat is the k aerostat in the aerostat cluster, and there are:
calculating to obtain target coordinate data of each aerostat in the aerostat cluster according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster and the preset safety distance between the aerostats in the aerostat cluster;
respectively driving each aerostat to move to corresponding target coordinate data; and the heading angle of each aerostat is respectively adjusted so that the orientations of all aerostats of the aerostat cluster are consistent.
In the above ground-air linkage projection method, the media image data comprises an image proportion, an image size and an image projection angle;
the step S3 comprises the following steps:
adjusting the image proportion according to the arrangement shape and size of the aerostat clusters in the air;
adjusting the size of the image according to the target coordinate data of the aerostat cluster;
and carrying out trapezoidal correction on the image projection angle according to the heading angle of the aerostat cluster and the target coordinate data.
The invention combines two types of aerial image technologies to construct a ground-air linkage projection system and a ground-air linkage projection method; a large-size projection plane is spliced by a plurality of aerostats in the air, and projection media images of ground-air linkage are formed by projection equipment deployed on the ground.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a functional block diagram of a ground-air linked projection system in accordance with a preferred embodiment of the present invention;
FIG. 2 illustrates a schematic diagram of the ground-air linked projection system shown in FIG. 1;
fig. 3 shows a schematic diagram of the structure of an aerostat cluster of the ground-air linked projection system shown in fig. 1.
Detailed Description
The technical problems to be solved by the invention are as follows: in the existing aerial image technology, the type resolution of the onboard image equipment is extremely low, the duration time is short, the viewing angle is narrow, and the like; the ground image equipment has the defects of high cost, low contrast, unstable medium and the like. The technical thought provided by the invention regarding the technical problem is as follows: combining two types of aerial image technologies to construct a ground-air linkage projection system and a ground-air linkage projection method; a large-size projection plane is spliced by a plurality of aerostats in the air, and projection media images of ground-air linkage are formed by projection equipment deployed on the ground.
In order to make the technical scheme, technical purpose and technical effect of the present invention more apparent so that those skilled in the art can understand and practice the present invention, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
1-2, FIG. 1 is a block diagram showing the functional structure of a ground-air linkage projection system according to a preferred embodiment of the present invention; fig. 2 shows a schematic diagram of the ground-air linked projection system shown in fig. 1. In fig. 1, a solid line represents control, and a broken line represents feedback. Specifically, the invention provides a ground-air linkage projection system, which comprises:
an aerostat cluster 100 comprising a plurality of aerostats 110 for image projection;
here, as shown in fig. 3, fig. 3 shows a schematic structural view of an aerostat 110 of an aerostat cluster of the ground-air linked projection system shown in fig. 1. The aerostat 110 comprises an airbag body 111 and a motorized part 112 mounted on the airbag body 111 for controlling the airbag body 111 to move in the air or to remain hovering.
The skin material of the airbag main body 111 is mainly a material having high barrier property, such as an alumina-plated composite material, a silica-plated composite material, a modified PE, or the like; the shape of the flying saucer can be square, spherical, traditional airship or flying saucer and other shapes; the surface of the airbag main body 111 has a region as a projection screen region, which serves as a projection screen. The inside of the balloon main body 111 is filled with a gas such as helium or hydrogen, so that the balloon main body 111 can remain hovering without consuming a large amount of energy by the maneuvering section 112, thereby realizing a long-time cruising of the aerostat 110.
The motorized portion 112 includes a battery, a motor, a propeller, wings, a flight control execution module, a sensor module, a communication module, a positioning module, etc.; the flight control execution module, the sensor module, the communication module, the positioning module and the like are arranged on the control board. The invention is not limited in the form in which motorized portion 112 may take. The motorized portion 112 primarily effects the basic motion pattern of a single aerostat, such as ascent, descent, forward, reverse, left-hand, right-hand, clockwise and counter-clockwise rotation.
When a plurality of aerostats 110 are in the air, two adjacent aerostats 110 hover in the air after being sufficiently close to each other and forming a safe distance by the mutual cooperation of the motorized parts 112, and finally form a relatively stable cluster hover state.
The cluster control module 200 is in communication connection with the aerostats 110 and is used for coordinating the aerostats 110 to move in the air so as to control and adjust the air state of the aerostats cluster 100;
here, the cluster control module 200 includes:
the ground-air communication unit 210 is respectively connected with the aerostats 110, and is configured to obtain flight status data of each aerostats 110 in the aerostats cluster 100;
the cluster control unit 220 is communicatively connected to the ground-air communication unit 210, and is configured to adjust an air motion of each aerostat 110 according to the flight status data of each aerostat 110 in the aerostat cluster 100, so as to realize control adjustment of the air status of the aerostat cluster 100.
Specifically, the cluster control unit 220 sends out a corresponding adjustment command according to the flight status data of each aerostat 110, and transmits the adjustment command to the aerostat 110 through the ground-air communication unit 210, so as to realize control adjustment of the aerostat 110.
Further, the air state data of the aerostat cluster 100 includes the flight state data of all aerostats 110; the flight state data comprises positioning coordinate data and heading angle data; the positioning coordinate data of the ith aerostat 110 in the aerostat cluster 100 is recorded as Li, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats 110 in the aerostat cluster 100;
the cluster control unit 220 is configured to select one aerostat 110 in the aerostat cluster 100 as a central node aerostat; wherein, the central node aerostat is the kth aerostat 110 in the aerostat cluster 100, and there are:
the method is further used for calculating to obtain target coordinate data SLi of each aerostat 110 in the aerostat cluster 100 according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster 100 and the preset safety distance da between aerostats in the aerostat cluster 100;
and is further configured to drive each aerostat 110 to move onto the corresponding target coordinate data SLi; and adjusts the heading angle of each aerostat 110 individually so that the orientation of all aerostats 110 of the aerostat cluster 100 is consistent.
By adjusting the heading angles of all of the aerostats 110 of the aerostats cluster 100, the projected curtain area orientations of all of the aerostats 110 can be made uniform. After the aerostat cluster 100 is formed, the cluster control unit 220 takes the position of the central node aerostat of the aerostat cluster 100 as the position of the whole aerostat cluster 100; the heading angle of the center node aerostat is taken as the heading angle of the whole aerostat cluster 100. The motion adjustments of the other aerostats 110 in the aerostats cluster 100 are consistent with the center node aerostats.
The media control module 300 is in communication connection with the cluster control module 200, and is used for acquiring the air state data of the aerostat cluster 100 and adjusting the media image data according to the air state data of the aerostat cluster 100;
here, the media control module 300 is mainly used for controlling the scale, size and angle correction of the image. The air state data of the aerostat cluster 100 includes the configuration shape size, target coordinate data, and heading angle of the aerostat cluster 100 in the air. The adjustment of the image by the media control module 300 is mainly based on the shape, size, position and heading angle of the aerostat cluster 100 in the air.
Specifically, the media image data includes an image scale, an image size, and an image projection angle. The media control module 300 is further configured to adjust an image proportion according to the arrangement shape and size of the aerostat cluster 100 in the air;
the method is also used for adjusting the size of the image according to the target coordinate data of the aerostat cluster 100;
and is further configured to perform trapezoidal correction on the image projection angle according to the heading angle of the aerostat cluster 100 and the target coordinate data.
After the media control module 300 completes the adjustment of the image, the adjusted media image data and the air state data of the aerostat cluster 100 are transferred to the projection control module 400, so as to realize the correct projection of the image onto the aerostat cluster 100.
The projection control module 400 is communicatively connected to the media control module 300, and is configured to control and adjust a projection direction of the ground projection light according to the air state data of the aerostat cluster 100 and the adjusted media image data.
Here, the projection control module 400 is mainly used to control the direction of the ground projection light. The projection control module 400 mainly includes a horizontal rotation axis and a pitch rotation axis. The adjustment of the projection control module 400 to the ground projection light direction is primarily based on the airborne position of the aerostat cluster 100.
After receiving the flight status of the aerostat cluster 100 transmitted by the media control module 300, the projection control module 400 calculates the horizontal steering and pitching angles according to the position of the aerostat cluster 100 in the air, and performs corresponding adjustment.
The invention also provides a ground-air linkage projection method, which comprises the following steps:
step S0, providing an aerostat cluster 100; the aerostat cluster 100 comprises a plurality of aerostats 110 for image projection;
step S1, coordinating the movement of a plurality of aerostats 110 in the air, thereby controlling and adjusting the air state of the aerostats cluster 100;
the step S1 comprises the following steps:
acquiring flight status data for each of the aerostats 110 in the aerostats cluster 100;
the airborne actions of each aerostat 110 are adjusted according to the flight status data of each aerostat 110 in the aerostat cluster 100, thereby achieving control adjustment of the airborne status of the aerostat cluster 100.
Step S2, acquiring the air state data of the aerostat cluster 100, and adjusting the media image data according to the air state data of the aerostat cluster 100;
in this step, the air state data of the aerostat cluster 100 includes the flight state data of all aerostats 110; the flight state data comprises positioning coordinate data and heading angle data;
the step S2 comprises the following steps:
the positioning coordinate data of the ith aerostat 110 in the aerostat cluster 100 is recorded as Li in advance, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats 110 in the aerostat cluster 100;
selecting one aerostat 110 in the aerostat cluster 100 as a central node aerostat; wherein, the central node aerostat is the kth aerostat 110 in the aerostat cluster 100, and there are:
calculating to obtain target coordinate data SLi of each aerostat 110 in the aerostat cluster 100 according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster 100 and the preset safety distance da between aerostats in the aerostat cluster 100;
driving each aerostat 110 to move to the corresponding target coordinate data SLi; and adjusts the heading angle of each aerostat 110 individually so that the orientation of all aerostats 110 of the aerostat cluster 100 is consistent.
In this step, the media image data includes an image proportion, an image size, and an image projection angle;
and step S3, controlling and adjusting the projection direction of the ground projection lamp light according to the air state data of the aerostat cluster 100 and the adjusted media image data, so as to project an image on the aerostat cluster 100.
The step S3 comprises the following steps:
adjusting the image proportion according to the arrangement shape and size of the aerostat cluster 100 in the air;
adjusting the image size according to the target coordinate data of the aerostat cluster 100;
the image projection angle is trapezoidal corrected according to the heading angle of the aerostat cluster 100 and the target coordinate data.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (5)
1. A ground-air linkage projection system, comprising:
an aerostat cluster (100) comprising a plurality of aerostats (110) for image projection;
the cluster control module (200) is respectively in communication connection with the plurality of aerostats (110) and is used for coordinating the movement of the plurality of aerostats (110) in the air so as to control and adjust the air state of the aerostats cluster (100);
the media control module (300) is in communication connection with the cluster control module (200) and is used for acquiring the air state data of the aerostat cluster (100) and adjusting the media image data according to the air state data of the aerostat cluster (100);
the projection control module (400) is in communication connection with the media control module (300) and is used for controlling and adjusting the projection direction of ground projection lamplight according to the air state data of the aerostat cluster (100) and the adjusted media image data so as to project images on the aerostat cluster (100);
the cluster control module (200) includes:
the ground-air communication unit (210) is respectively in communication connection with the plurality of aerostats (110) and is used for acquiring flight state data of each aerostats (110) in the aerostats cluster (100);
the cluster control unit (220) is in communication connection with the ground-air communication unit (210) and is used for adjusting the air action of each aerostat (110) according to the flight state data of each aerostat (110) in the aerostat cluster (100), so as to realize the control and adjustment of the air state of the aerostat cluster (100);
the air state data of the aerostat cluster (100) comprises flight state data of all aerostats (110); the flight state data comprises positioning coordinate data and heading angle data; the positioning coordinate data of an ith aerostat (110) in the aerostat cluster (100) is recorded as Li, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats (110) in the aerostat cluster (100);
the cluster control unit (220) is used for selecting one aerostat (110) in the aerostat cluster (100) as a central node aerostat; wherein, the central node aerostat is a kth aerostat (110) in the aerostat cluster (100), and the central node aerostat comprises:
the cluster control unit (220) is further used for calculating to obtain target coordinate data of each aerostat (110) in the aerostat cluster (100) according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster (100) and the preset safety distance between aerostats in the aerostat cluster (100);
and is also used for respectively driving each aerostat (110) to move to corresponding target coordinate data; the heading angle of each aerostat (110) is respectively adjusted so that the directions of all aerostats (110) of the aerostat cluster (100) are consistent;
the aerostat (110) comprises an airbag body (111) and a motorized part (112) mounted on the airbag body (111) for controlling the airbag body (111) to move in the air or to remain hovering.
2. The ground-air linkage projection system of claim 1, wherein the media image data comprises an image scale, an image size, and an image projection angle;
the media control module (300) is used for adjusting the image proportion according to the arrangement shape and size of the aerostat cluster (100) in the air;
the method is also used for adjusting the size of the image according to the target coordinate data of the aerostat cluster (100);
and the system is also used for carrying out trapezoidal correction on the image projection angle according to the heading angle of the aerostat cluster (100) and the target coordinate data.
3. Ground-air linkage projection system according to claim 1, characterized in that the skin material of the airbag body (111) is an alumina-plated composite, a silica-plated composite or a modified PE.
4. The ground-air linkage projection method is characterized by comprising the following steps of:
step S0, providing an aerostat cluster (100); the aerostat cluster (100) comprises a plurality of aerostats (110) for image projection;
step S1, coordinating the movement of a plurality of aerostats (110) in the air, thereby controlling and adjusting the air state of the aerostats cluster (100);
s2, acquiring air state data of the aerostat cluster (100), and adjusting media image data according to the air state data of the aerostat cluster (100);
step S3, controlling and adjusting the projection direction of ground projection lamplight according to the air state data of the aerostat cluster (100) and the adjusted media image data, so as to project images on the aerostat cluster (100);
the step S1 comprises the following steps:
acquiring flight status data for each aerostat (110) in the aerostat cluster (100);
according to the flight state data of each aerostat (110) in the aerostat cluster (100), the air action of each aerostat (110) is adjusted, so that the control adjustment of the air state of the aerostat cluster (100) is realized;
the air state data of the aerostat cluster (100) comprises flight state data of all aerostats (110); the flight state data comprises positioning coordinate data and heading angle data;
the step S2 comprises the following steps:
the positioning coordinate data of an ith aerostat (110) in the aerostat cluster (100) is recorded as Li in advance, wherein i is a natural number, i is more than or equal to 1 and less than or equal to n, and n is the number of aerostats (110) in the aerostat cluster (100);
selecting one aerostat (110) in the aerostat cluster (100) as a central node aerostat; wherein, the central node aerostat is a kth aerostat (110) in the aerostat cluster (100), and the central node aerostat comprises:
calculating to obtain target coordinate data of each aerostat (110) in the aerostat cluster (100) according to the positioning coordinate data Lk of the central node aerostat, the preset arrangement shape and size of the aerostat cluster (100) and the preset safety distance between aerostats in the aerostat cluster (100);
driving each aerostat (110) to move to corresponding target coordinate data; the heading angle of each aerostat (110) is respectively adjusted so that the directions of all aerostats (110) of the aerostat cluster (100) are consistent; the aerostat (110) comprises an airbag body (111) and a motorized part (112) mounted on the airbag body (111) for controlling the airbag body (111) to move in the air or to remain hovering.
5. The earth-air linkage projection method of claim 4, wherein the media image data comprises an image scale, an image size, and an image projection angle;
the step S3 comprises the following steps:
adjusting the image proportion according to the arrangement shape and size of the aerostat cluster (100) in the air;
adjusting the image size according to the target coordinate data of the aerostat cluster (100);
and performing trapezoidal correction on the image projection angle according to the heading angle of the aerostat cluster (100) and the target coordinate data.
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| CN101123761A (en) * | 2007-09-10 | 2008-02-13 | 北京航空航天大学 | Clustering method for air mobile node and air-ground integrated clustering system |
| US8544788B1 (en) * | 2010-07-07 | 2013-10-01 | Captures, LLC | Aerostat assembly |
| WO2017027939A1 (en) * | 2015-08-14 | 2017-02-23 | Centrais Elétricas Do Norte Do Brasil S.A - Eletrobras Eletronorte | Process of using an aerostat in transmission lines |
| CN105109661A (en) * | 2015-08-31 | 2015-12-02 | 东莞前沿技术研究院 | Monitoring method and network based on aerostats and aerostat |
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