CN111077910B - Anti-collision method for unmanned aerial vehicle bee colony based on ultraviolet light guidance - Google Patents
Anti-collision method for unmanned aerial vehicle bee colony based on ultraviolet light guidance Download PDFInfo
- Publication number
- CN111077910B CN111077910B CN202010012473.9A CN202010012473A CN111077910B CN 111077910 B CN111077910 B CN 111077910B CN 202010012473 A CN202010012473 A CN 202010012473A CN 111077910 B CN111077910 B CN 111077910B
- Authority
- CN
- China
- Prior art keywords
- ultraviolet light
- unmanned aerial
- aerial vehicle
- ultraviolet
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 15
- 230000010365 information processing Effects 0.000 claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 11
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 238000004891 communication Methods 0.000 abstract description 10
- 206010063385 Intellectualisation Diseases 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000002265 prevention Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The system comprises an information processing center, a signal transmitter and a signal receiver, wherein the signal transmitter is in communication connection with the information processing center, the signal transmitter consists of an ultraviolet LED light source with two wavelengths and an intensity modulator, and the signal receiver consists of an optical filter, a photoelectric converter, an amplifier and a photoelectric signal processor, wherein the optical filter corresponds to the ultraviolet LED light source with two wavelengths; the ultraviolet light MIMO device is arranged on the unmanned aerial vehicle, ultraviolet light is emitted by ultraviolet light LED light sources with two different wavelengths in the ultraviolet light MIMO device, and the direction and the early warning level area where the unmanned aerial vehicle is positioned are judged according to the number of the ultraviolet light emitted by the ultraviolet light LED light sources and the ultraviolet light with different wavelengths received by optical filters with different directions, so that a proper anti-collision instruction is made. The invention can realize that the unmanned aerial vehicle bee colony works without depending on external positioning devices such as GPS and the like to finish anti-collision work, and has strong flexibility and high intellectualization; the ultraviolet MIMO device is light and easy to carry, can work around the clock, and realizes secret communication.
Description
Technical Field
The invention belongs to the technical field of photoelectric information, and particularly relates to an ultraviolet light-guided unmanned aerial vehicle bee colony anti-collision method.
Background
With the rapid development of the unmanned aerial vehicle industry and the continuous innovation of the industrial technology thereof, unmanned aerial vehicles are widely used in a plurality of fields such as aerial photography, aerial survey, inspection, agriculture, logistics, security and the like. Unmanned aerial vehicles have gradually played an increasingly important role in the fields of military, civilian use, science and technology and the like due to the advantages of high flexibility, good maneuvering performance, high reaction speed, low operation requirements and the like. With the recent development of the national release of related policies such as low airspace opening, unmanned aerial vehicle management and control and the like and the gradual maturation of multi-agent systems, the unmanned aerial vehicle industry and market will further develop.
Whether civil stage performance, large-scale activity aerial photography or military aerial investigation and bee colony combat, the processes of track planning, formation assembly, formation maintenance, transformation and the like exist as long as the unmanned aerial vehicle is in combined operation. No matter which process is in, collision danger exists between unmanned aerial vehicles, and the flight safety of each unmanned aerial vehicle is guaranteed to finish tasks, so that the problem of inter-plane collision prevention of the swarm unmanned aerial vehicles cannot be ignored. The current method for preventing collision of unmanned aerial vehicle mainly comprises the steps of enabling unmanned aerial vehicle to fly according to a route which is designed in advance and cannot collide strictly based on GPS, and identifying and avoiding obstacles through vision, sound wave, infrared sensors and the like. However, GPS has the potential for failure, and visual, acoustic and infrared sensors have the drawbacks of being unsuitable for working in low light conditions and not far away from detection distance, so that it is urgent to find an anti-collision method which does not depend on external positioning facilities such as GPS and has high environmental adaptability.
The solar blind ultraviolet light of 200nm-280nm is absorbed by ozone molecules in the atmosphere effectively, so that the wireless ultraviolet light scattering communication in a low-altitude airspace almost has no background noise, all-weather communication can be realized, an ultraviolet light signal is not influenced by radio interference signals, long-distance ultraviolet interference is difficult to implement, and the solar blind ultraviolet light is suitable for internal secret communication in unmanned aerial vehicle formation. Therefore, the method based on solar blind ultraviolet light guide anti-collision not only can meet the requirements, but also is suitable for more occasions due to the characteristics that the MIMO device is portable and easy to carry, can realize all-weather non-direct-view communication, has low background noise and can realize secret communication.
Disclosure of Invention
The invention aims to provide an ultraviolet light guided unmanned aerial vehicle bee colony anti-collision system, device and method, which solve the problems that the existing inter-machine anti-collision method excessively depends on external positioning facilities, has harsh applicable conditions and limited detection distance, and provide hardware support for realizing a wireless ultraviolet light guided unmanned aerial vehicle anti-collision scheme.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a based on ultraviolet light guide unmanned aerial vehicle bee colony anticollision system, includes information processing center communication connection signal transmitter and signal receiver, and signal transmitter comprises ultraviolet light LED light source and the intensity modulator of two kinds of wavelength, and signal receiver comprises light filter, photoelectric converter, amplifier and the photoelectricity signal processor of corresponding two kinds of ultraviolet light LED light source wavelength, and microprocessor module in the information processing center installs inside the unmanned aerial vehicle;
the ultraviolet light LED light source on the signal transmitter is lightened, ultraviolet light is emitted into an atmosphere channel, the task of signal transmission is completed, the ultraviolet light LED light source is modulated by the intensity modulator, the farthest transmission distance of ultraviolet light with two wavelengths in the ultraviolet light LED light source respectively reaches the preset boundary value of an early warning area, the boundary value of the early warning area is respectively set to 10m and 80m, the three-dimensional space around each unmanned aerial vehicle is divided into three early warning grade areas, namely a 0-grade early warning area R >80m, a 1-grade early warning area 10m < R < 80m, and a 2-grade early warning area R < 10m, wherein R is the spherical radius taking the center of mass of the unmanned aerial vehicle as the center of sphere;
the optical filter corresponding to the ultraviolet LED light source in the signal receiver receives ultraviolet light signals, converts the ultraviolet light signals into electric signals through the photoelectric converter, amplifies the electric signals through the amplifier, and transmits the electric signals into the photoelectric signal processor for processing and analysis;
the photoelectric signal processor transmits the processing result to the information processing center, the microprocessor module in the information processing center synthesizes the information transmitted in all directions to give out an anti-collision instruction, and the information processing center transmits the anti-collision instruction to the flight control module of the unmanned aerial vehicle to adjust the heading and speed of the unmanned aerial vehicle.
Further, the model of the microprocessor module is STM32F407.
The anti-collision device is an ultraviolet MIMO device, the ultraviolet MIMO device is spherical, a unidirectional receiving and transmitting structure is arranged on the outer wall of the ultraviolet MIMO device, the unidirectional receiving and transmitting structure comprises an ultraviolet LED light source and an optical filter, and the unidirectional receiving and transmitting structure can adjust parameters of the ultraviolet LED light source, such as an emission elevation angle, a beam aperture angle, power and the optical filter; the ultraviolet MIMO device is internally provided with an intensity modulator, a photoelectric converter, an amplifier and a photoelectric signal processor; the ultraviolet MIMO device consists of an upper half part and a lower half part, and is respectively arranged above and below the unmanned aerial vehicle body.
Further, the outer wall of the ultraviolet light MIMO device takes a warp every 90 degrees, the upper and lower 45 degrees respectively take a weft, the warp and the weft have 8 intersection points, a group of unidirectional receiving and transmitting structures are placed at each intersection point, and the unidirectional receiving and transmitting structures in different directions in the ultraviolet light MIMO device are marked with serial numbers.
An ultraviolet light guided unmanned aerial vehicle bee colony anti-collision method comprises the following steps:
the ultraviolet light MIMO device of the anti-collision device is spherical, the outer wall of the ultraviolet light MIMO device is provided with a unidirectional receiving and transmitting structure, the unidirectional receiving and transmitting structure comprises an ultraviolet light LED light source and an optical filter, and the unidirectional receiving and transmitting structure can adjust parameters of the ultraviolet light LED light source emission elevation angle, the beam aperture angle, the power and the optical filter; the ultraviolet MIMO device is internally provided with an intensity modulator, a photoelectric converter, an amplifier and a photoelectric signal processor; the ultraviolet MIMO device consists of an upper half part and a lower half part, and is respectively arranged above and below the unmanned aerial vehicle body; the outer wall of the ultraviolet light MIMO device takes a warp every 90 degrees, the upper and lower 45 degrees respectively take a weft, the warp and the weft have 8 intersection points, a group of unidirectional receiving and transmitting structures are placed at each intersection point, and the unidirectional receiving and transmitting structures in different directions in the ultraviolet light MIMO device are marked with serial numbers;
step 1, dividing a collision early warning grade area:
the ultraviolet LED light sources with two wavelengths in the ultraviolet MIMO device can divide the three-dimensional space around the unmanned aerial vehicle into three collision early warning level areas, wherein R is more than 80m, 10m < R is less than or equal to 80m, and 2 level early warning areas R is less than or equal to 10m, the higher the level is, the higher the collision probability is, and R is the sphere radius with the center of mass of the unmanned aerial vehicle as the center of sphere;
step 2, judging a collision early warning area:
taking two unmanned aerial vehicles A, B as an example, 8 ultraviolet light LED light sources in different directions on an ultraviolet light MIMO device of an unmanned aerial vehicle A are circularly lightened, and an unmanned aerial vehicle B judges that the unmanned aerial vehicle B is positioned in several grades of early warning areas of the unmanned aerial vehicle A according to the number of ultraviolet light LED light sources with different wavelengths received by a signal receiver:
if the signal receivers in all directions of the unmanned plane B do not receive ultraviolet light LED signals with any wavelength, the unmanned plane B is positioned in a 0-level early warning area of the unmanned plane A, no collision danger exists temporarily, and the unmanned plane B can fly along the original course;
if the signal receiver of the unmanned plane B in a certain direction receives an ultraviolet LED signal with one wavelength, the unmanned plane B is positioned in a 1-level early warning area of the unmanned plane A, the distance between the unmanned plane B and the unmanned plane A is relatively close, and the unmanned plane B has a collision risk with a certain probability and jumps to the step 3;
if the signal receiver of the unmanned plane B in a certain direction receives ultraviolet light LED signals with two wavelengths, the unmanned plane B is positioned in a 2-level early warning area of the unmanned plane A, the distance between the unmanned planes is too close, the collision risk is high, and the step 4 is skipped;
step 3, adjusting the flying speed:
an information processing center issues an execution command for adjusting the flight speed to a flight control module, the flight speed of the unmanned aerial vehicle is reduced to below 8m/s, and the ultraviolet light signal in the direction is continuously focused;
step 4: adjusting direction of flight
And the information processing center issues an execution command for adjusting the flight direction to the flight control module, and the unmanned aerial vehicle B rapidly adjusts the flight direction according to an adjustment scheme.
Further, the adjustment scheme described in step 4 is as follows:
case a: when only ultraviolet LED signals with two wavelengths of one unmanned plane are received: rapidly adjusting the flight direction to be the opposite direction of the signal receiver direction until only ultraviolet light LED signals with one wavelength can be received, and at the moment, adjusting the flight direction again according to the current position and the target position;
case B: when receiving the ultraviolet light LED signals of two wavelengths of a plurality of unmanned aerial vehicles, two conditions are as follows:
case a: when the coming directions of the multiple unmanned aerial vehicles are asymmetrically offset, the flight direction is quickly adjusted to be opposite to the direction combining direction of the signal receivers until only ultraviolet light LED signals with one wavelength can be received, and at the moment, the flight direction is adjusted again according to the current position and the target position;
case b: when the coming directions of the multiple unmanned aerial vehicles are offset symmetrically, the flight direction is quickly adjusted to be the opposite direction of the original flight direction until only ultraviolet light LED signals with one wavelength can be received, and at the moment, the flight direction is adjusted again according to the current position and the position of the target set node.
The beneficial effects of the invention are as follows:
when the unmanned aerial vehicle bee colony works, no matter which process is in formation aggregation, dismissal, formation maintenance and transformation, the anti-collision work of external positioning devices such as GPS (Global positioning System) can be completed without depending on the anti-collision work, so that the unmanned aerial vehicle bee colony robot bee colony has strong flexibility and high intelligence. Secondly, the ultraviolet LED light source on the ultraviolet MIMO device has simple structure, easy regulation and control and low price; the ultraviolet light MIMO device is light and easy to carry, and the burden of the unmanned aerial vehicle can not be increased. Finally, the solar blind ultraviolet background noise is small, the solar blind ultraviolet background noise can work around the clock, the body safety of the unmanned aerial vehicle bee colony in various operation occasions can be greatly improved, and due to the characteristics of the solar blind ultraviolet, secret communication can be realized, so that the system can be applied to wider scenes.
Drawings
FIG. 1 is a schematic diagram of an ultraviolet light-guided unmanned aerial vehicle based swarm collision avoidance system;
FIG. 2 is a schematic diagram of an ultraviolet MIMO device;
FIG. 3 is a schematic view of an anti-collision warning area;
fig. 4 is a schematic diagram of a direction adjustment scheme when only one unmanned aerial vehicle warning signal is received;
FIG. 5 is a schematic view of a directional adjustment scheme for a multi-frame unmanned aerial vehicle when the incoming direction is asymmetrically offset;
fig. 6 is a schematic diagram of a direction adjustment scheme for a multi-frame unmanned aerial vehicle when the incoming symmetry is offset.
In the figure, a 1-information processing center, a 2-signal transmitter, a 3-signal receiver, a 4-microprocessor module, a 5-ultraviolet LED light source, a 6-intensity modulator, a 7-optical filter, an 8-photoelectric converter, a 9-amplifier, a 10-photoelectric signal processor, a 11-spherical MIMO device, a 12-unmanned aerial vehicle, a 13-unidirectional receiving and transmitting structure, a 14-flight control module and 15-ultraviolet light.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1, the ultraviolet light guiding unmanned aerial vehicle bee colony collision preventing system is formed by connecting a signal transmitter 2 and a signal receiver 3 in a communication way by an information processing center 1, wherein the signal transmitter 2 is formed by a solar blind ultraviolet light LED light source 5 and an intensity modulator 6 with two wavelengths, and the signal receiver 3 is formed by a light filter 7, a photoelectric converter 8, an amplifier 9 and a photoelectric signal processor 10 corresponding to the wavelengths of the solar blind ultraviolet light LED light sources. The microprocessor module 4 in the information processing center 1 is installed inside the unmanned aerial vehicle 12, and the model of the microprocessor module 4 is STM32F407.
As shown in fig. 2, the outer wall of the ultraviolet MIMO device 11 takes a warp every 90 ° and a weft every 45 ° up and down, the warp and the weft have 8 intersection points, and a set of unidirectional transceiver structures 13 are placed at each intersection point, and the structures comprise two different wavelengths (lambda) 1 ，λ 2 ) And a filter 7 with corresponding wavelength, and adjusting the appropriate parameters of the ultraviolet LED light source 5 such as the emission elevation angle, the beam aperture angle, the power and the filter 7, so that eachThe light receiving range of the filter 7 in each direction and the ultraviolet light 15 emitted by the ultraviolet LED light source 5 can just cover the eighth area responsible for this direction.
The intensity modulator 6, the photoelectric converter 8, the amplifier 9 and the photoelectric signal processor 10 are all arranged inside the ultraviolet light MIMO device 11, and the ultraviolet light MIMO device 11 is composed of an upper half part and a lower half part, and is respectively arranged above and below the unmanned plane 12. The unidirectional transceiver structures 13 of different directions in each ultraviolet MIMO device 11 are labeled with serial numbers.
The ultraviolet LED light sources 5 on the signal transmitter 2 are sequentially and circularly lighted, and the ultraviolet LED light sources 5 with the same serial numbers and different wavelengths are simultaneously lighted and emit ultraviolet light 15 into an atmosphere channel, so that the task of signal transmission is completed.
The optical filter 7 corresponding to the two wavelength LED light sources in the signal receiver 3 receives the ultraviolet light 15 signals, converts the ultraviolet light 15 signals into electric signals through the photoelectric converter 8, amplifies the electric signals through the amplifier 9, and transmits the electric signals into the photoelectric signal processor 10 for processing and analysis.
The photoelectric signal processor 10 in each direction transmits the processing result to the information processing center 1, the microprocessor module 4 in the information processing center 1 synthesizes the information transmitted in each direction to make a proper anti-collision instruction, and the information processing center 1 transmits the anti-collision instruction to the flight control module 14 of the unmanned aerial vehicle to adjust the course, speed and other flight states of the unmanned aerial vehicle.
The ultraviolet LED light sources 5 with two wavelengths installed at the intersection points of the warp and the weft on the surface of the ultraviolet MIMO device 11 are respectively modulated to proper intensities by the intensity modulator 6, so that the furthest transmission distances of the ultraviolet light with two wavelengths respectively reach the preset boundary values of the early warning areas, namely 10m and 80m, and the three-dimensional space around each unmanned aerial vehicle 12 is divided into three early warning level areas, as shown in fig. 3.
An ultraviolet light guided unmanned aerial vehicle bee colony anti-collision method comprises the following steps:
step 1, dividing a collision early warning grade area:
the three-dimensional space around the unmanned aerial vehicle 12 can be manually divided into three collision early warning level areas by the LED light sources 5 with two wavelengths in the ultraviolet MIMO device 11, as shown in fig. 3, the three-dimensional space is respectively a 0-level early warning area (R >80 m), a 1-level early warning area (10 m < R < 80 m), a 2-level early warning area (R < 10 m), and the higher the level is, the higher the collision probability is, wherein R is the sphere radius taking the mass center of the unmanned aerial vehicle as the sphere center.
Step 2, judging a collision early warning area:
taking two unmanned aerial vehicles A, B as an example, ultraviolet light LED light sources 5 in several directions on an ultraviolet light MIMO device 11 of an unmanned aerial vehicle A are circularly lightened, and an unmanned aerial vehicle B judges that the unmanned aerial vehicle B is positioned in several-stage early warning areas of the unmanned aerial vehicle A according to the number of ultraviolet light LED signals with different wavelengths received by a signal receiver 3:
if the signal receivers 3 in all directions of the unmanned plane B do not receive ultraviolet light LED signals with any wavelength, the unmanned plane B is positioned in a 0-level early warning area of the unmanned plane A, and the unmanned plane B is in flight along the original course temporarily without collision danger;
if the signal receiver 3 in a certain direction of the unmanned plane B receives an ultraviolet LED signal with one wavelength, the unmanned plane B is positioned in a 1-level early warning area of the unmanned plane A, the distance between the unmanned plane B and the unmanned plane A is relatively close, and the unmanned plane B has a collision risk with a certain probability and jumps to the step 3;
if the signal receiver 3 in a certain direction of the unmanned plane B receives ultraviolet light LED signals with two wavelengths, the unmanned plane B is positioned in a 2-level early warning area of the unmanned plane A, the distance between the two unmanned planes is too close, the collision risk is high, and the step 4 is skipped;
step 3, adjusting the flying speed:
the information processing center 1 issues an execution command for adjusting the flight speed to the flight control module 14, reduces the flight speed of the unmanned aerial vehicle to below 8m/s, and continuously focuses on the ultraviolet light signal in the direction.
Step 4, adjusting the flight direction:
the information processing center 1 issues an execution command for adjusting the flight direction to the flight control module 14, and the unmanned aerial vehicle B rapidly adjusts the flight direction according to the adjustment scheme.
In an actual scene, as the distance limit of each early warning area of each unmanned aerial vehicle is the same, the influence of some uncontrollable factors on the ultraviolet light propagation distance is ignored, and the situation that A is in a certain level early warning area of B and also B is in a certain level early warning area of A can be understood, when collision danger exists, the two unmanned aerial vehicles can simultaneously adjust the flight direction.
The specific adjustment scheme is as follows:
case a: when only ultraviolet light LED signals with two wavelengths of one unmanned plane are received, the flight direction is quickly adjusted to be opposite to the direction of the signal receiver 3 until only ultraviolet light LED signals with one wavelength are received, and at the moment, the flight direction is adjusted again according to the current position and the target position.
Examples: when the signal receiver 3 in the direction of the unmanned plane B (2) receives the ultraviolet LED signals with two wavelengths, the unmanned plane B quickly adjusts the flight direction to the opposite direction (8) of (2) as shown in fig. 4.
Case B: when receiving the ultraviolet light LED signals of two wavelengths of a plurality of unmanned aerial vehicles, two conditions are as follows:
case a: when the coming directions of the multiple unmanned aerial vehicles are asymmetrically offset, the flight direction is quickly adjusted to be opposite to the direction combining direction of the directions of the signal receivers 3 until only ultraviolet light LED signals with one wavelength can be received, and at the moment, the flight direction is adjusted again according to the current position and the target position.
Examples: when the signal receivers 3 in the directions of the unmanned aerial vehicle B (2), (4) and (7) receive ultraviolet LED signals with two wavelengths, the flight direction B is quickly adjusted to be opposite to the direction of the combined direction of the unmanned aerial vehicle B (2), (4) and (7) as shown in fig. 5.
Case b: when the coming directions of the multiple unmanned aerial vehicles are offset symmetrically, the flight direction is quickly adjusted to be the opposite direction of the original flight direction until only ultraviolet light LED signals with one wavelength can be received, and at the moment, the flight direction is adjusted again according to the current position and the position of the target set node.
Examples: the signal receivers 3 in the directions of the unmanned aerial vehicle B (1), (3), (5) and (7) all receive ultraviolet light LED signals with two wavelengths, and the directions just offset, so that the unmanned aerial vehicle B quickly adjusts the flight direction to be the opposite direction of the original course as shown in fig. 6.
In addition, the collision prevention schemes of various collision modes are analyzed, and a collision prevention scheme library is established so as to directly call a proper collision prevention scheme when the same situation is met later.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (1)
1. The anti-collision method for the unmanned aerial vehicle bee colony based on ultraviolet light guidance is characterized in that an anti-collision ultraviolet light MIMO device is spherical, a unidirectional receiving and transmitting structure is arranged on the outer wall of the ultraviolet light MIMO device, the unidirectional receiving and transmitting structure comprises an ultraviolet light LED light source and an optical filter, and the unidirectional receiving and transmitting structure can adjust parameters of the ultraviolet light LED light source emission elevation angle, the beam aperture angle, the power and the optical filter; the ultraviolet MIMO device is internally provided with an intensity modulator, a photoelectric converter, an amplifier and a photoelectric signal processor; the ultraviolet MIMO device consists of an upper half part and a lower half part, and is respectively arranged above and below the unmanned aerial vehicle body; the outer wall of the ultraviolet light MIMO device takes a warp every 90 degrees, the upper and lower 45 degrees respectively take a weft, the warp and the weft have 8 intersection points, a group of unidirectional receiving and transmitting structures are placed at each intersection point, and the unidirectional receiving and transmitting structures in different directions in the ultraviolet light MIMO device are marked with serial numbers;
the method comprises the following steps:
step 1, dividing a collision early warning grade area:
the ultraviolet LED light sources with two wavelengths in the ultraviolet MIMO device can divide the three-dimensional space around the unmanned aerial vehicle into three collision early warning level areas, wherein R is more than 80m, R is more than 10m and less than 80m, R is more than 10m, and R is more than 10m, wherein R is the radius of a sphere with the center of mass of the unmanned aerial vehicle as the center of sphere;
step 2, judging a collision early warning area:
taking two unmanned aerial vehicles A, B as an example, 8 ultraviolet light LED light sources in different directions on an ultraviolet light MIMO device of an unmanned aerial vehicle A are circularly lightened, and an unmanned aerial vehicle B judges that the unmanned aerial vehicle B is positioned in several grades of early warning areas of the unmanned aerial vehicle A according to the number of ultraviolet light LED light sources with different wavelengths received by a signal receiver:
if the signal receivers in all directions of the unmanned plane B do not receive ultraviolet light LED signals with any wavelength, the unmanned plane B is positioned in a 0-level early warning area of the unmanned plane A, no collision danger exists temporarily, and the unmanned plane B can fly along the original course;
if the signal receiver of the unmanned plane B in a certain direction receives an ultraviolet LED signal with one wavelength, the unmanned plane B is positioned in a 1-level early warning area of the unmanned plane A, the distance between the unmanned plane B and the unmanned plane A is relatively close, and the unmanned plane B has a collision risk with a certain probability and jumps to the step 3;
if the signal receiver of the unmanned plane B in a certain direction receives ultraviolet light LED signals with two wavelengths, the unmanned plane B is positioned in a 2-level early warning area of the unmanned plane A, the distance between the unmanned planes is too close, the collision risk is high, and the step 4 is skipped;
step 3, adjusting the flying speed:
an information processing center issues an execution command for adjusting the flight speed to a flight control module, the flight speed of the unmanned aerial vehicle is reduced to below 8m/s, and the ultraviolet light signal in the direction is continuously focused;
step 4: adjusting the flight direction:
the information processing center issues an execution command for adjusting the flight direction to the flight control module, and at the moment, the unmanned aerial vehicle B rapidly adjusts the flight direction according to an adjustment scheme, wherein the adjustment scheme is as follows:
case a: when only ultraviolet LED signals with two wavelengths of one unmanned plane are received: rapidly adjusting the flight direction to be the opposite direction of the signal receiver direction until only ultraviolet light LED signals with one wavelength can be received, and at the moment, adjusting the flight direction again according to the current position and the target position;
case B: when receiving the ultraviolet light LED signals of two wavelengths of a plurality of unmanned aerial vehicles, two conditions are as follows:
case a: when the coming directions of the multiple unmanned aerial vehicles are asymmetrically offset, the flight direction is quickly adjusted to be opposite to the direction combining direction of the signal receivers until only ultraviolet light LED signals with one wavelength can be received, and at the moment, the flight direction is adjusted again according to the current position and the target position;
case b: when the coming directions of the multiple unmanned aerial vehicles are offset symmetrically, the flight direction is quickly adjusted to be the opposite direction of the original flight direction until only ultraviolet light LED signals with one wavelength can be received, and at the moment, the flight direction is adjusted again according to the current position and the position of the target set node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012473.9A CN111077910B (en) | 2020-01-07 | 2020-01-07 | Anti-collision method for unmanned aerial vehicle bee colony based on ultraviolet light guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012473.9A CN111077910B (en) | 2020-01-07 | 2020-01-07 | Anti-collision method for unmanned aerial vehicle bee colony based on ultraviolet light guidance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111077910A CN111077910A (en) | 2020-04-28 |
| CN111077910B true CN111077910B (en) | 2023-11-14 |
Family
ID=70322231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010012473.9A Active CN111077910B (en) | 2020-01-07 | 2020-01-07 | Anti-collision method for unmanned aerial vehicle bee colony based on ultraviolet light guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111077910B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111736628B (en) * | 2020-06-29 | 2023-04-07 | 众芯汉创（北京）科技有限公司 | Optimal persistent formation generation method for wireless ultraviolet MIMO cooperative unmanned aerial vehicle |
| CN111880556A (en) * | 2020-07-02 | 2020-11-03 | 西安理工大学 | Wireless ultraviolet light-based anti-collision system and method in unmanned aerial vehicle cluster |
| CN114339946A (en) * | 2021-12-16 | 2022-04-12 | 西安理工大学 | Wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4872051A (en) * | 1987-10-01 | 1989-10-03 | Environmental Research Institute Of Michigan | Collision avoidance alarm system |
| CN107108030A (en) * | 2016-09-21 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN107170298A (en) * | 2016-03-07 | 2017-09-15 | 群光电子股份有限公司 | The collision avoidance system and its method of unmanned vehicle |
| CN107402581A (en) * | 2017-07-27 | 2017-11-28 | 西安理工大学 | Express delivery unmanned plane landing guiding system and bootstrap technique based on wireless ultraviolet light |
| CN107571991A (en) * | 2017-09-07 | 2018-01-12 | 闫淑萍 | Unmanned plane collision avoidance system |
| CN108983814A (en) * | 2018-07-30 | 2018-12-11 | 西安理工大学 | The more intelligence body bee colony control methods of single virtual master control based on wireless ultraviolet communication |
| CN109557936A (en) * | 2018-12-03 | 2019-04-02 | 北京航空航天大学 | Anti-collision control method between the unmanned plane machine that hung down based on Artificial Potential Field Method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150003393A (en) * | 2012-06-01 | 2015-01-08 | 랜다우어, 인크. | Wireless, Motion and Position-Sensing, Integrating Radiation Sensor for Occupational and Environmental Dosimetry |
| US20170285092A1 (en) * | 2016-03-31 | 2017-10-05 | U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | Directional unmanned aerial vehicle (uav) localization of power line ultraviolet corona using point detectors |
-
2020
- 2020-01-07 CN CN202010012473.9A patent/CN111077910B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4872051A (en) * | 1987-10-01 | 1989-10-03 | Environmental Research Institute Of Michigan | Collision avoidance alarm system |
| CN107170298A (en) * | 2016-03-07 | 2017-09-15 | 群光电子股份有限公司 | The collision avoidance system and its method of unmanned vehicle |
| CN107108030A (en) * | 2016-09-21 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN107402581A (en) * | 2017-07-27 | 2017-11-28 | 西安理工大学 | Express delivery unmanned plane landing guiding system and bootstrap technique based on wireless ultraviolet light |
| CN107571991A (en) * | 2017-09-07 | 2018-01-12 | 闫淑萍 | Unmanned plane collision avoidance system |
| CN108983814A (en) * | 2018-07-30 | 2018-12-11 | 西安理工大学 | The more intelligence body bee colony control methods of single virtual master control based on wireless ultraviolet communication |
| CN109557936A (en) * | 2018-12-03 | 2019-04-02 | 北京航空航天大学 | Anti-collision control method between the unmanned plane machine that hung down based on Artificial Potential Field Method |
Non-Patent Citations (6)
| Title |
|---|
| ADS-B信息的球状模型飞行冲突探测算法;刘鑫 等;《传感器与微系统》;20170601;第36卷(第6期);第126-129+137页 * |
| Research on novel fountain code for UAV formation flight control in UV communication;T. Zhao, et al.;《2017 7th IEEE International Symposium on Microwave, Antenna, Propagation, and EMC Technologies (MAPE)》;20171027;第120-123页 * |
| 刘新勇等.紫外光通信及其对抗措施初探.光电技术应用.2005,第20卷(第05期),第7-9,36页. * |
| 基于5G移动通信的无人机与民用飞机防相撞技术研究;杨秀玉;《中国优秀硕士学位论文全文数据库 工程科技Ⅰ辑》;20190815;第4章 * |
| 无线紫外光通信协作无人机编队控制方法研究;解颖;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20190115;第2-4章 * |
| 解颖.无线紫外光通信协作无人机编队控制方法研究.《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》.2019, * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111077910A (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111077910B (en) | Anti-collision method for unmanned aerial vehicle bee colony based on ultraviolet light guidance | |
| US4986384A (en) | Remote control system of mobile objects | |
| US20110144829A1 (en) | Countermeasure system for birds | |
| US20090248287A1 (en) | Unmanned aerial system position reporting system and related methods | |
| EP3062123B1 (en) | System and methods of detecting an intruding object in a relative navigation system | |
| US20210146821A1 (en) | Vehicle headlight system | |
| CN111625018A (en) | Unmanned aerial vehicle flight trajectory planning method based on radar detection and unmanned aerial vehicle system | |
| Abualhoul et al. | Enhancing the field of view limitation of visible light communication-based platoon | |
| CN110660273A (en) | Unmanned aerial vehicle bias-inducing counter-braking system and method | |
| US10793287B2 (en) | Method for controlling warning lights of an unmanned aerial vehicle and a system for application thereof | |
| JP2021516763A (en) | Methods and equipment for object detection using beam steering radar and convolutional neural network systems | |
| Mei et al. | Overview of vehicle optical wireless communications | |
| US20210261247A1 (en) | Systems and methodology for voice and/or gesture communication with device having v2x capability | |
| CN114237277A (en) | Unmanned aerial vehicle keeps away barrier system based on millimeter wave radar and nearly electric induction | |
| US20230023302A1 (en) | System and method for radar interference mitigation using clustering | |
| CN215987030U (en) | Urban environment unmanned aerial vehicle detection and countercheck system | |
| US12066841B2 (en) | Systems and methods for relative pose determination and field enforcement of materials handling vehicles using ultra-wideband radio technology | |
| US20220120900A1 (en) | Light detection and ranging device using combined pulse and continuous optical signals | |
| CN210428856U (en) | Unmanned aerial vehicle lures inclined to one side system of doing reaction | |
| WO2023003977A1 (en) | Optimized multichannel optical system for lidar sensors | |
| CN113022539B (en) | Animal driving-away method, system, storage medium and equipment | |
| JP7383833B2 (en) | Method for controlling cognitive LPE radio | |
| CN113093171B (en) | Airborne radar path and radiation resource joint optimization method based on target tracking | |
| CN114353594A (en) | Unmanned aerial vehicle prevention and control system based on shelter | |
| CN112436896A (en) | Real-time communication method of pipeline robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240507 Address after: B226, 2nd Floor, Building 2, No. 18 Yongyinqu South Road, Shijingshan District, Beijing, 100000 RMB Patentee after: Beijing Huaying Shijie Technology Co.,Ltd. Country or region after: China Address before: 710048 No. 5 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN University OF TECHNOLOGY Country or region before: China |
|
| TR01 | Transfer of patent right |