CN111880556A - Wireless ultraviolet light-based anti-collision system and method in unmanned aerial vehicle cluster - Google Patents
Wireless ultraviolet light-based anti-collision system and method in unmanned aerial vehicle cluster Download PDFInfo
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Abstract
The invention discloses a cluster unmanned aerial vehicle anti-collision system based on wireless ultraviolet light, which comprises an airborne information processing module and an airborne ultraviolet light signal transceiving module; the airborne ultraviolet light signal receiving and transmitting module comprises an ultraviolet light signal transmitter and an ultraviolet photomultiplier, the ultraviolet light signal transmitter comprises ultraviolet light LED light sources with two wavelengths and a triode, and the ultraviolet light LED light sources are controlled by the triode to form early warning areas with different early warning grades. Ultraviolet light communication is established in the overlapping early warning area in each direction between unmanned aerial vehicles, and whether unmanned aerial vehicles avoid is judged by judging the priority between the unmanned aerial vehicles, so that the cluster unmanned aerial vehicles are prevented from collision. Utilize the ascending collision signal of wireless ultraviolet detection unmanned aerial vehicle all directions to make anticollision operating measure, have advantages such as all-weather work, all-round work, security are strong, guaranteed unmanned aerial vehicle flight safety at the cluster flight in-process.
Description
Technical Field
The invention belongs to the technical field of photoelectric information, and particularly relates to a cluster unmanned aerial vehicle anti-collision system based on wireless ultraviolet light and an anti-collision method thereof.
Background
Along with the rapid development of science and technology level, unmanned aerial vehicle range of application also is more and more extensive, tasks such as unmanned aerial vehicle flight performance, unmanned aerial vehicle aerial mobile communication network deployment, unmanned aerial vehicle inter-aircraft cooperation require to keep certain flight distance between the unmanned aerial vehicle.
Receive wind power or topography influence at unmanned aerial vehicle flight in-process, be difficult to between the unmanned aerial vehicle keep the distance between the aircraft, at this moment, just require between the unmanned aerial vehicle through an anticollision system, distance between the early warning unmanned aerial vehicle in time to make corresponding countermeasure.
Anticollision system adopts radio to carry out communication between the machine mostly between present unmanned aerial vehicle, perhaps fixes a position through GPS, but GPS positioning error is great, and radio communication receives radio signal's among the surrounding environment interference easily, and it is relatively poor to prevent the collision effect between the unmanned aerial vehicle.
The ultraviolet communication adopts the 'solar blind' ultraviolet light with the wave band of 200nm-280nm for communication, the communication by utilizing the ultraviolet light with the wave band almost has no interference of background noise in the surrounding environment, and meanwhile, the ultraviolet communication is not interfered by radio interference in the surrounding environment, and the ultraviolet communication has the advantages of all-weather work, all-directional work, strong confidentiality and the like.
Disclosure of Invention
The invention aims to provide a cluster unmanned aerial vehicle anti-collision system based on wireless ultraviolet light, and solves the problem that collision occurs between unmanned aerial vehicles when the distance between the unmanned aerial vehicles cannot be kept in the flight process of an unmanned aerial vehicle cluster.
The invention further aims to provide the cluster unmanned aerial vehicle anti-collision method.
The invention adopts the technical scheme that the cluster unmanned aerial vehicle anti-collision system based on wireless ultraviolet light comprises an airborne information processing module and an airborne ultraviolet light signal transceiving module; the airborne ultraviolet signal transceiving module comprises an ultraviolet signal transmitter and an ultraviolet signal receiver, wherein the ultraviolet signal transmitter comprises an ultraviolet LED light source and a triode with two wavelengths, and the ultraviolet signal receiver is an ultraviolet photomultiplier with two wavelengths; the airborne signal processing module is integrated inside the unmanned aerial vehicle.
The present invention is also characterized in that,
the airborne signal processing module is a microprocessor, and the model of the microprocessor is STM32f 429; the microprocessor stores the priority of the unmanned aerial vehicle and two early warning distances of the unmanned aerial vehicle.
The early warning distances are respectively set to be 20m and 50m, and the three-dimensional space around each unmanned aerial vehicle is divided into three early warning levels.
The wavelengths of the ultraviolet LED light source are 255nm and 280nm respectively.
The invention adopts another technical scheme that the cluster unmanned aerial vehicle anti-collision method based on the wireless ultraviolet light is implemented according to the following steps:
step 1, adjusting an airborne ultraviolet signal transceiver module: by controlling the divergence angles of an ultraviolet LED light source and an ultraviolet photomultiplier, the airborne ultraviolet light signal receiving and transmitting modules hung on four rotors of the unmanned aerial vehicle can realize full-coverage communication;
the communication distance between the ultraviolet LED light source and the ultraviolet photomultiplier is adjusted through the triode, so that the periphery of the unmanned aerial vehicle is divided into three early warning areas with different distances, wherein the safety areas D are larger than 50m, and the collision probability between the unmanned aerial vehicles in the areas is extremely low; d is more than 20m and less than or equal to 50m in the warning area, and the collision probability between the unmanned aerial vehicles in the warning area is medium; the dangerous area D is less than or equal to 20m, and the collision grade of the unmanned aerial vehicle in the area is extremely high; wherein D is the spherical radius with the center of mass of the unmanned aerial vehicle as the center of sphere;
step 2, broadcasting signals in the flight process of the unmanned aerial vehicle: in the flying process of the unmanned aerial vehicle, the flight state information of the unmanned aerial vehicle, the priority information of the unmanned aerial vehicle and the flying early warning information of the unmanned aerial vehicle are sent in an all-around manner by ultraviolet light signal transmitters hung on four rotor wings of the unmanned aerial vehicle;
step 3, detecting an early warning signal in the flight process of the unmanned aerial vehicle: and the unmanned aerial vehicle detects the early warning signal through the signal receiver in flight to perform anti-collision operation.
The present invention is also characterized in that,
in the step 3, the method is implemented according to the following steps:
step 3.1, detecting the collision prevention under the condition of an early warning signal in the flight process of the unmanned aerial vehicle: firstly, determining the collision direction between the unmanned aerial vehicle and the unmanned aerial vehicle sending an early warning signal and the priorities of the two unmanned aerial vehicles through a signal processing module, wherein the unmanned aerial vehicle with lower priority reduces the flight speed in the collision direction, and the unmanned aerial vehicle with higher priority keeps the flight state until the unmanned aerial vehicle receives the collision signal and disappears, and the unmanned aerial vehicle is successfully operated in an anti-collision way;
step 3.2, detecting the collision prevention under the condition of the early warning signals of the unmanned aerial vehicles in multiple directions: firstly, determining the collision direction between the unmanned aerial vehicle and a plurality of unmanned aerial vehicles which send early warning signals and the priority between the unmanned aerial vehicle and other unmanned aerial vehicles through a signal processing module; the method specifically comprises the following steps:
3.2.1, detecting that the priority of the unmanned aerial vehicle in a certain early warning direction is lower than that of the unmanned aerial vehicle sending the early warning signal, reducing the flight speed of the unmanned aerial vehicle in the early warning direction, and keeping the unmanned aerial vehicle sending the early warning signal in the flight state in the direction until the collision signal received by the unmanned aerial vehicle in the direction disappears;
3.2.2, detecting that the priority of the unmanned aerial vehicle in a certain early warning direction is higher than that of the unmanned aerial vehicle sending the early warning signal, keeping the flight state of the unmanned aerial vehicle in the direction, and reducing the flight speed of the unmanned aerial vehicle sending the early warning signal in the early warning direction until the collision signal received by the unmanned aerial vehicle in the direction disappears;
and 3.2.3, repeating the step 3.2.1 and the step 3.2.2 until collision early warning signals received by the unmanned aerial vehicle in all directions disappear, and the unmanned aerial vehicle is successfully operated in an anti-collision mode.
The invention has the beneficial effects that:
the cluster unmanned aerial vehicle anti-collision system based on the wireless ultraviolet light utilizes the wireless ultraviolet light to detect collision signals in all directions of the unmanned aerial vehicle and makes anti-collision operation measures, has the advantages of all-weather work, all-directional work, strong confidentiality and the like, ensures the flight safety of the unmanned aerial vehicle in the cluster flight process, and provides important guarantee for the unmanned aerial vehicle to satisfactorily complete flight tasks.
Drawings
Fig. 1 is a schematic structural diagram of an anti-collision system in an unmanned aerial vehicle cluster based on wireless ultraviolet light;
fig. 2 is a schematic diagram illustrating that an unmanned aerial vehicle detects an anti-collision warning signal according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the unmanned aerial vehicle detecting collision early warning signals in multiple directions in the embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a cluster unmanned aerial vehicle anti-collision system based on wireless ultraviolet light, which comprises an airborne information processing module and an airborne ultraviolet light signal receiving and transmitting module, as shown in figure 1.
The airborne ultraviolet signal transceiving module comprises an ultraviolet signal transmitter and an ultraviolet signal receiver, the ultraviolet signal transmitter comprises ultraviolet LED light sources with two wavelengths and a triode, and the communication distance of the ultraviolet LED light sources is controlled through the triode to form early warning areas with different early warning levels;
the wavelengths of the ultraviolet LED light source are 255nm and 280nm respectively;
the ultraviolet light signal receiver is an ultraviolet photomultiplier with two wavelengths;
the ultraviolet photomultiplier corresponds to the two ultraviolet LED light sources with the wavelengths of 255nm and 280 mn; after the ultraviolet photomultiplier receives the ultraviolet LED signal, the distance between the two unmanned aerial vehicles can be calculated through the received luminous power, the sensitivity of the photomultiplier is adjusted through voltage, and then the receiving distance of the photomultiplier is controlled.
The airborne signal processing module is integrated in the unmanned aerial vehicle, a microprocessor in the airborne signal processing module is installed in the unmanned aerial vehicle, and ultraviolet light communication is established by utilizing overlapped early warning areas in all directions between the unmanned aerial vehicles to realize the anti-collision of the unmanned aerial vehicles; the priority of the unmanned aerial vehicle and two early warning distances of the unmanned aerial vehicle are stored in the airborne signal processing module;
the early warning distances are respectively set to be 20m and 50m, and the three-dimensional space around each unmanned aerial vehicle is divided into three early warning levels;
the priority information of the unmanned aerial vehicle is stored in an airborne signal processing module of the unmanned aerial vehicle and is determined by the number of each unmanned aerial vehicle;
the model of the microprocessor is STM32f 429;
the invention relates to a cluster unmanned aerial vehicle anti-collision method based on wireless ultraviolet light, which is implemented according to the following steps:
step 1, adjusting an ultraviolet light signal transceiver module: by controlling the divergence angles of an ultraviolet LED light source and an ultraviolet photomultiplier, the airborne ultraviolet light signal receiving and transmitting modules hung on four rotors of the unmanned aerial vehicle can realize full-coverage communication;
the communication distance between the ultraviolet LED light source and the ultraviolet photomultiplier is adjusted through the triode, so that the periphery of the unmanned aerial vehicle is divided into three early warning areas with different distances, wherein the safety areas D are larger than 50m, and the collision probability between the unmanned aerial vehicles in the areas is extremely low; d is more than 20m and less than or equal to 50m in the warning area, and the collision probability between the unmanned aerial vehicles in the warning area is medium; the dangerous area D is less than or equal to 20m, and the collision grade of the unmanned aerial vehicle in the area is extremely high; wherein D is the spherical radius with the center of mass of the unmanned aerial vehicle as the center of sphere;
step 2, broadcasting signals in the flight process of the unmanned aerial vehicle: in the flying process of the unmanned aerial vehicle, the flight state information of the unmanned aerial vehicle, the priority information of the unmanned aerial vehicle and the flying early warning information of the unmanned aerial vehicle are sent in an all-around manner by ultraviolet light signal transmitters hung on four rotor wings of the unmanned aerial vehicle;
step 3, detecting an early warning signal in the flight process of the unmanned aerial vehicle: the unmanned aerial vehicle carries out anti-collision operation by detecting an early warning signal through the signal receiver in flight;
step 3.1, detecting the collision prevention under the condition of an early warning signal in the flight process of the unmanned aerial vehicle: firstly, determining the collision direction between the unmanned aerial vehicle and the unmanned aerial vehicle sending an early warning signal and the priorities of the two unmanned aerial vehicles through a signal processing module, wherein the unmanned aerial vehicle with lower priority reduces the flight speed in the collision direction, and the unmanned aerial vehicle with higher priority keeps the flight state until the unmanned aerial vehicle receives the collision signal and disappears, and the unmanned aerial vehicle is successfully operated in an anti-collision way;
step 3.2, detecting the collision prevention under the condition of the early warning signals of the unmanned aerial vehicles in multiple directions: firstly, determining the collision direction between the unmanned aerial vehicle and a plurality of unmanned aerial vehicles which send early warning signals and the priority between the unmanned aerial vehicle and other unmanned aerial vehicles through a signal processing module; the method specifically comprises the following steps:
3.2.1, detecting that the priority of the unmanned aerial vehicle in a certain early warning direction is lower than that of the unmanned aerial vehicle sending the early warning signal, reducing the flight speed of the unmanned aerial vehicle in the early warning direction, and keeping the unmanned aerial vehicle sending the early warning signal in the flight state in the direction until the collision signal received by the unmanned aerial vehicle in the direction disappears;
3.2.2, detecting that the priority of the unmanned aerial vehicle in a certain early warning direction is higher than that of the unmanned aerial vehicle sending the early warning signal, keeping the flight state of the unmanned aerial vehicle in the direction, and reducing the flight speed of the unmanned aerial vehicle sending the early warning signal in the early warning direction until the collision signal received by the unmanned aerial vehicle in the direction disappears;
and 3.2.3, repeating the step 3.2.1 and the step 3.2.2 until collision early warning signals received by the unmanned aerial vehicle in all directions disappear, and the unmanned aerial vehicle is successfully operated in an anti-collision mode.
Examples
A cluster unmanned aerial vehicle anti-collision method based on wireless ultraviolet light is implemented according to the following steps:
step 1, adjusting an ultraviolet light signal transceiver module: by controlling the divergence angles of the ultraviolet LED and the photomultiplier, the airborne ultraviolet signal transceiver modules hung on the four rotors of the unmanned aerial vehicle can realize full coverage type communication;
step 2, broadcasting signals in the flight process of the unmanned aerial vehicle: in the flying process of the unmanned aerial vehicle, the flight state information of the unmanned aerial vehicle, the priority information of the unmanned aerial vehicle and the flying early warning information of the unmanned aerial vehicle are sent in an all-around manner by ultraviolet light signal transmitters hung on four rotor wings of the unmanned aerial vehicle;
step 3, detecting an early warning signal in the flight process of the unmanned aerial vehicle: the unmanned aerial vehicle carries out anti-collision operation by detecting an early warning signal through the signal receiver in flight;
step 3.1, detecting the collision prevention under the condition of an early warning signal in the flight process of the unmanned aerial vehicle: as shown in fig. 2, firstly, the collision direction between the unmanned aerial vehicle 010 and the unmanned aerial vehicle 001 which sends out the early warning signal and the priorities of the two unmanned aerial vehicles are determined through the signal processing module, the unmanned aerial vehicle 001 with the lower priority reduces the flight speed in the collision direction, and the unmanned aerial vehicle 010 with the higher priority keeps the flight state until the unmanned aerial vehicle disappears after receiving the collision signal, and the unmanned aerial vehicle is successfully operated in an anti-collision manner;
step 3.2, detecting the collision prevention under the condition of the early warning signals of the unmanned aerial vehicles in multiple directions: as shown in fig. 3, firstly, determining, by a signal processing module, a collision direction between the drone and a plurality of drones which send warning signals, and priorities between the drone 020 and other drones;
3.2.1, detecting that the priority of the unmanned aerial vehicle 020 in a certain early warning direction is lower than that of the unmanned aerial vehicle 100 sending the early warning signal, reducing the flying speed of the unmanned aerial vehicle 020 in the early warning direction, and keeping the unmanned aerial vehicle 100 sending the early warning signal in the flying state in the direction until the collision signal received by the unmanned aerial vehicle in the direction disappears;
3.2.2, detecting that the priority of the unmanned aerial vehicle 020 in a certain early warning direction is higher than that of the unmanned aerial vehicle sending the early warning signals 002 and 003, keeping the flying state of the unmanned aerial vehicle 020 in the direction, and reducing the flying speed of the unmanned aerial vehicles 002 and 003 sending the early warning signals in the early warning direction until the collision signals received by the unmanned aerial vehicle 020 in the direction disappear;
and 3.2.3, repeating the step 3.2.1 and the step 3.2.2 until collision early warning signals in all directions received by the unmanned aerial vehicle 020 disappear, and the unmanned aerial vehicle is successfully operated in an anti-collision mode.
Claims (6)
1. A cluster unmanned aerial vehicle anti-collision system based on wireless ultraviolet light is characterized by comprising an airborne information processing module and an airborne ultraviolet light signal transceiving module; the airborne ultraviolet signal transceiving module comprises an ultraviolet signal transmitter and an ultraviolet signal receiver, wherein the ultraviolet signal transmitter comprises an ultraviolet LED light source and a triode with two wavelengths, and the ultraviolet signal receiver is an ultraviolet photomultiplier with two wavelengths; the airborne signal processing module is integrated inside the unmanned aerial vehicle.
2. The wireless ultraviolet light-based cluster unmanned aerial vehicle anti-collision system according to claim 1, wherein the airborne signal processing module is a microprocessor, and the microprocessor is of a model number STM32f 429; the microprocessor stores the priority of the unmanned aerial vehicle and two early warning distances of the unmanned aerial vehicle.
3. The wireless ultraviolet light-based cluster unmanned aerial vehicle collision avoidance system of claim 2, wherein the early warning distances are set to be 20m and 50m respectively, and the three-dimensional space around each unmanned aerial vehicle is divided into three early warning levels.
4. The system of claim 1, wherein the wavelengths of the UV LED light sources are 255nm and 280nm, respectively.
5. The cluster unmanned aerial vehicle anti-collision method based on wireless ultraviolet light is characterized by being implemented according to the following steps:
step 1, adjusting an airborne ultraviolet signal transceiver module: by controlling the divergence angles of an ultraviolet LED light source and an ultraviolet photomultiplier, the airborne ultraviolet light signal receiving and transmitting modules hung on four rotors of the unmanned aerial vehicle can realize full-coverage communication;
the communication distance between the ultraviolet LED light source and the ultraviolet photomultiplier is adjusted through the triode, so that the periphery of the unmanned aerial vehicle is divided into three early warning areas with different distances, wherein the safety areas D are larger than 50m, and the collision probability between the unmanned aerial vehicles in the areas is extremely low; d is more than 20m and less than or equal to 50m in the warning area, and the collision probability between the unmanned aerial vehicles in the warning area is medium; the dangerous area D is less than or equal to 20m, and the collision grade of the unmanned aerial vehicle in the area is extremely high; wherein D is the spherical radius with the center of mass of the unmanned aerial vehicle as the center of sphere;
step 2, broadcasting signals in the flight process of the unmanned aerial vehicle: in the flying process of the unmanned aerial vehicle, the flight state information of the unmanned aerial vehicle, the priority information of the unmanned aerial vehicle and the flying early warning information of the unmanned aerial vehicle are sent in an all-around manner by ultraviolet light signal transmitters hung on four rotor wings of the unmanned aerial vehicle;
step 3, detecting an early warning signal in the flight process of the unmanned aerial vehicle: and the unmanned aerial vehicle detects the early warning signal through the signal receiver in flight to perform anti-collision operation.
6. The method according to claim 1, wherein the step 3 is specifically implemented according to the following steps:
step 3.1, detecting the collision prevention under the condition of an early warning signal in the flight process of the unmanned aerial vehicle: firstly, determining the collision direction between the unmanned aerial vehicle and the unmanned aerial vehicle sending an early warning signal and the priorities of the two unmanned aerial vehicles through a signal processing module, wherein the unmanned aerial vehicle with lower priority reduces the flight speed in the collision direction, and the unmanned aerial vehicle with higher priority keeps the flight state until the unmanned aerial vehicle receives the collision signal and disappears, and the unmanned aerial vehicle is successfully operated in an anti-collision way;
step 3.2, detecting the collision prevention under the condition of the early warning signals of the unmanned aerial vehicles in multiple directions: firstly, determining the collision direction between the unmanned aerial vehicle and a plurality of unmanned aerial vehicles which send early warning signals and the priority between the unmanned aerial vehicle and other unmanned aerial vehicles through a signal processing module; the method specifically comprises the following steps:
3.2.1, detecting that the priority of the unmanned aerial vehicle in a certain early warning direction is lower than that of the unmanned aerial vehicle sending the early warning signal, reducing the flight speed of the unmanned aerial vehicle in the early warning direction, and keeping the unmanned aerial vehicle sending the early warning signal in the flight state in the direction until the collision signal received by the unmanned aerial vehicle in the direction disappears;
3.2.2, detecting that the priority of the unmanned aerial vehicle in a certain early warning direction is higher than that of the unmanned aerial vehicle sending the early warning signal, keeping the flight state of the unmanned aerial vehicle in the direction, and reducing the flight speed of the unmanned aerial vehicle sending the early warning signal in the early warning direction until the collision signal received by the unmanned aerial vehicle in the direction disappears;
and 3.2.3, repeating the step 3.2.1 and the step 3.2.2 until collision early warning signals received by the unmanned aerial vehicle in all directions disappear, and the unmanned aerial vehicle is successfully operated in an anti-collision mode.
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