阅读说明：本技术 一种基于摄像头辅助的无人机可见光通信装置和方法 (Unmanned aerial vehicle visible light communication device and method based on camera assistance ) 是由 董辰 黄威彦 秦极 原瑞蔚 张畅 于 2021-07-12 设计创作，主要内容包括：本发明公开了一种基于摄像头辅助的无人机可见光通信装置和方法,用以实现在无人机高速移动时,射频通信被干扰的情况下,能够通过可见光通信。该方法中,发送端通过多机位对接收无人机定位,向接收端位置发射可调节的可见光柱；接收端通过多个接受单元和主控单元配合实现三状态接受信号,实现单向可将光通信。(The invention discloses an unmanned aerial vehicle visible light communication device and method based on camera assistance, which are used for realizing visible light communication under the condition that radio frequency communication is interfered when an unmanned aerial vehicle moves at a high speed. In the method, a sending end positions a receiving unmanned aerial vehicle through a plurality of machine positions and emits an adjustable visible light column to a receiving end position; the receiving end realizes three-state signal reception through the cooperation of a plurality of receiving units and the main control unit, and realizes unidirectional optical communication.)

1. A camera-assisted unmanned aerial vehicle visible light communication method is characterized in that a communication frequent step comprises the following steps:

step 1: before starting, the unmanned aerial vehicle group stores performance parameters corresponding to the shapes of the unmanned aerial vehicles of the own party;

step 2: the unmanned aerial vehicle is provided with a plurality of positions, can realize camera shooting and is used for positioning the unmanned aerial vehicle;

and step 3: under the unmanned aerial vehicle's of oneself's the condition has been found at the camera, unmanned aerial vehicle is equipped with a visible light emitter, according to the location, adjusts emission light column diameter and angle, carries out information transmission, and the receiving element and the main control unit cooperation of receiver accomplish information reception.

2. A method according to claim 1, characterized in that said communication is often a time unit of tens of milliseconds, which can be set to 10ms, i.e. the length of a frame of the 5G standard.

3. The method of claim 1, wherein the receiving in step 3 comprises:

and 4, step 4: each receiving unit on the receiver body judges whether the signal is received at the time, whether the received signal is continuous or discontinuous, and the receiving unit has three working states: reporting the no signal, the intermittent signal and the continuous signal to a main control unit of the receiver;

and 5: the main control unit of the receiver judges how many receiving units have signals, and for the signals which are successfully received, the main control unit of the receiver uses the communication multi-antenna theory to carry out signal combination MRC technology and then carries out processing to obtain a demodulation result.

4. The method according to claim 1, wherein the steps 2 and later need to be performed in a loop, and the communication interval between the steps can be a set time length not limited to 10ms, or the interval can be adjusted by capturing the moving speed and attitude of the receiving drone through a camera, and if the receiving drone is found to be in a hovering state, the communication interval is extended to tens to hundreds of milliseconds; if the unmanned aerial vehicle is in a high-speed motion state, the interval is set to be less than 100 ms.

5. The method according to claim 1, wherein the detected object in step 2 is known and unique by the drone, the recognition rate is high, and the positioning can be performed by using a target detection technology in a computer vision technology, and a video tracking technology.

6. The method as claimed in claim 1, wherein a reflective coating is applied to the receiving end, and in the step 2, under the condition of low visibility, the visible light emitting device is used for rotatably emitting light with longer wavelength in the visible light, so that the discrimination between the receiving unmanned aerial vehicle and the environment is enhanced, and the positioning accuracy is improved.

7. The method according to claim 1, wherein in step 4, the receiver main control unit schedules the receiving unit to be in a working or idle state, and schedules the receiving unit which is in discontinuous reception to work discontinuously, so as to achieve the purpose of energy saving; in the step 4, the receiving unit may operate in three states, continuous receiving, no receiving, and discontinuous receiving, or may operate in two states, and no discontinuous receiving.

8. The method of claim 1, wherein the receiving central control unit in step 5 may use MRC maximum combining ratio combining technique, SC single selection technique, or other receiver techniques.

9. The utility model provides a visual light communication device of unmanned aerial vehicle based on camera is supplementary, its characterized in that, the device includes transmitting apparatus and receiving apparatus, wherein:

the transmitting device comprises a camera and a visible light emitting device;

the receiving device includes a plurality of receiving units and a main control unit.

10. The apparatus according to claim 10, wherein the angle of the light emitted by the visible light emitting means of the emitting device is adjustable within a range, typically 2-20 degrees. A 20 degree, 3.4 meter diameter light beam is performed over a 10 meter range of action, and a 5 degree, 34 meter diameter light beam is performed over a 1000 meter range of action; on the receiving device, the unmanned aerial vehicle body is provided with a plurality of receiving units, such as but not limited to PDs, APDs, imrs and the like; the light of the visible light emitting device can be single wavelength or multi-wavelength; the light emitting column of the visible light emitting device can be round, and can also be triangular, square, pentagonal, hexagonal and the like; the light emitting angle of the visible light emitting device may be any angle, and the minimum is not limited to 1 degree.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle visible light communication device and method based on camera assistance.

Background

Under modern combat conditions, unmanned aerial vehicles have been the primary military instrument used in local warfare. At present, the unmanned aerial vehicle uses radio frequency communication as traditional battlefield communication, so that an unmanned aerial vehicle system needs to continuously improve the anti-electromagnetic interference capability to adapt to the complex battlefield electromagnetic environment requirement. No matter the influence of natural magnetic field interference such as thunder and lightning and electronic noise interference, on the battlefield, the interference technology to radio frequency communication is constantly developing, and the radiation interference and conducted interference technology that appear can make communication transmission appear the error, influences system work in short-term and even burns out semiconductor element and circuit, leads to unmanned aerial vehicle radio frequency communication's the degree of difficulty constantly increasing.

Based on the above discussion, Visible Light Communication (VLC) is considered as an alternative to radio frequency based communication schemes. VLC is a novel high-speed data transmission technology for transmitting information by using high-speed bright and dark flashing signals emitted by semiconductors, and has the characteristics of rich visible light spectrum resources, high communication speed, no electromagnetic interference and high confidentiality. VLC may compensate for access as an important communication complement to a drone system in electromagnetically limited environments or in conditions sensitive to electromagnetic signals.

However, visible light communication also has its limitations and applicable scenarios. Another side of the high degree of VLC security is that communication fails should light be blocked. This shadowing effect can be reflected in the problem of the inability of light to penetrate the fuselage of the drone on the battlefield of the drone. In addition, the transmitting device of the existing VLC system is often static or the information source is a certain fixed angle to transmit information, and it cannot be guaranteed that the transmitting device in the process of traveling can flexibly transmit information to one or more receiving devices selected in the 3D space, and the transmitting device is applied to the positioning problem of the unmanned aerial vehicle in the unmanned aerial vehicle system.

Disclosure of Invention

In view of the above disadvantages, embodiments of the present invention provide a camera-assisted apparatus and method for visible light communication of an unmanned aerial vehicle, so as to implement unidirectional visible light communication when radio frequency communication is interfered when the unmanned aerial vehicle moves at a high speed on a battlefield.

The invention provides a camera-assisted unmanned aerial vehicle visible light communication method, which comprises the following steps:

step 1: before starting, the unmanned aerial vehicle group stores performance parameters corresponding to the shapes of the unmanned aerial vehicles of the own party;

step 2: the unmanned aerial vehicle is provided with a plurality of machine positions, can realize real-time 360-degree panoramic shooting and is used for positioning the unmanned aerial vehicle;

and step 3: under the condition that the camera finds the unmanned aerial vehicle of the own party, the unmanned aerial vehicle is provided with a visible light emitting device, and the diameter and the angle of a light emitting column are adjusted according to positioning to send information;

and 4, step 4: each receiving unit on the receiver body judges whether the signal is received at the time, whether the received signal is continuous or discontinuous, and the receiving unit has three working states: reporting the no signal, the intermittent signal and the continuous signal to a main control unit of the receiver;

and 5: the main control unit of the receiver judges how many receiving units have signals, and for the signals which are successfully received, the main control unit of the receiver uses the communication multi-antenna theory to carry out signal combination MRC technology and then carries out processing to obtain a demodulation result.

Alternatively, the communication is often a time unit of several tens of milliseconds, and may be set to 10ms, that is, the length of a frame of the 5G standard.

Optionally, the step 2 and the following steps need to be performed in a loop, a communication interval between the steps may be a set time length not limited to 10ms, or an interval may be adjusted by capturing the movement speed and the posture of the receiving drone through a camera, and if the receiving drone is found to be in a hovering state, the communication interval is extended to tens to hundreds of milliseconds; if the unmanned aerial vehicle is in a high-speed motion state, the interval is set to be less than 100 ms.

Optionally, the unmanned aerial vehicle for the detected object in the step 2 is known and unique, has a high recognition rate, and can use a target detection technology in a computer vision technology for positioning, and can also use technologies such as video tracking and the like;

optionally, a reflective coating can be coated on the receiving end, and in the step 2 stage, under the condition of low visibility, the visible light emitting device is used for rotatably emitting light with longer wavelength in the visible light, so that the discrimination between the receiving unmanned aerial vehicle and the environment is enhanced, and the positioning accuracy is improved.

Optionally, in step 5, the receiver main control unit schedules the receiving unit to be in a working state or an idle state, and schedules the receiving unit to be in discontinuous reception to work discontinuously, so as to achieve the purpose of saving energy.

Optionally, in step 4, the receiving unit may operate in three states, continuous reception, no reception, and discontinuous reception, or may operate in two states, and does not have discontinuous reception.

Optionally, the receiving central control unit in step 5 may use an MRC maximum combining ratio combining technique, an SC single-selection technique, or other receiver techniques.

In addition, in order to achieve the above object, the present invention provides an unmanned aerial vehicle visible light communication device based on camera assistance, which is characterized in that the device comprises a transmitting device and a receiving device, wherein:

the transmitting device comprises a camera and a visible light emitting device;

the receiving device includes a plurality of receiving units and a main control unit.

Optionally, the angle of the light emitted by the visible light emitting device in the emitting device is adjustable within a certain range, typically 2-20 degrees. A 20 degree, 3.4 meter diameter light beam is performed over a 10 meter range of action, and a 5 degree, 34 meter diameter light beam is performed over a 1000 meter range of action.

Optionally, on the receiving device, the drone body mounts a plurality of receiving units, such as but not limited to PDs, APDs, imrs, and the like.

Optionally, the light of the visible light emitting device may be of a single wavelength or multiple wavelengths.

Optionally, the light emitting pillar of the visible light emitting device may be circular, or may be triangular, square, pentagonal, hexagonal, or the like.

Alternatively, the angle of light emitted from the visible light emitting device may be any angle, and the minimum is not limited to 1 degree.

The camera-assisted unmanned aerial vehicle visible light communication device and method provided by the invention have the beneficial effects that:

under radio frequency communication is disturbed the condition, can carry out unmanned aerial vehicle visible light communication based on the assistance-localization real-time of camera, can guarantee simultaneously that communication is accomplished when airspeed is higher.

Drawings

Fig. 1 is a schematic diagram of an apparatus for launching a drone according to the present invention;

fig. 2 is a schematic diagram of an apparatus for receiving a drone according to the present invention;

FIG. 3 is a flow chart of the system during communication time in the present invention;

FIG. 4 is a flow chart of the long term operation system of the present invention;

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core idea of the invention is as follows: the transmitting unmanned aerial vehicle adjusts the angle and the diameter of the transmitting light column through positioning the receiving unmanned aerial vehicle, and transmits the light column to the receiving unmanned aerial vehicle; and receiving the data obtained by judging and master control scheduling processing of the unmanned aerial vehicle through a receiving unit.

Referring to fig. 1 and 2, the transmitting apparatus includes a multi-camera 1 and a visible light emitting device 2; the receiving device comprises a plurality of receiving units 3 and a master control unit 4.

Multimachine position camera 1 can provide 360 degrees panorama fields of vision for unmanned aerial vehicle, and transmission unmanned aerial vehicle can carry out the target detection to the panoramic image who acquires, fixes a position and receives unmanned aerial vehicle's position.

After the visible light emitting device 2 acquires the positioning information, the tripod head angle of adjustment makes the light source face to the direction of receiving unmanned aerial vehicle, and the emission angle of the emission light column, namely the light column diameter, is adjusted according to the distance between the emission unmanned aerial vehicle and the receiving unmanned aerial vehicle simultaneously, and information transmission is carried out. The light source in the visible light emitting device 2 may be a Light Emitting Diode (LED), a laser diode, or the like, but the embodiment is not limited thereto. Furthermore, the light source need not be formed by a single light source, but may be formed by an array of a plurality of light sources. In the case where each light source is formed of an array of a plurality of light sources, the plurality of light sources may emit light of different wavelengths, or may emit light of the same wavelength.

The distribution of the plurality of receiving units 3 ensures that light emitted from any angle can be received by at least one receiving unit, ensuring reliability of information transfer. Meanwhile, because the position of each receiving unit is different, each receiving unit also continuously judges whether the signal is received or not, and works under what signal condition: no signal, continuous signal or discontinuous signal, and reports the judgment to the main control unit 4 of the receiving end.

Another implementation method of the receiving unit 3 is: the receiving unit 3 judges that the operating state has only two options, i.e. operates in two states without discontinuous reception.

The main control unit 4 has a scheduling function, and when receiving the information transmitted from the receiving unit 3, determines the state of each receiving unit: working state or idle state, and scheduling the state, for example, scheduling the discontinuous operation of the receiving unit in discontinuous reception to achieve the purpose of energy saving; for the signals received by the receiving unit 3, the main control unit 4 uses the communication multiple antenna theory to perform signal combination MRC technology and then performs processing, so as to obtain the best demodulation result.

Another implementation method of the main control unit is as follows: the master unit processes the received signal from the receiving unit 3 using SC single-selection techniques, or other receiver techniques.

Fig. 3 and 4 show a flow chart of the system during communication time and a flow chart of the system in long-term operation. In practice the drone operation shown in figure 3 is completed within one communication duration shown in figure 4. In particular, the implementation and the connection of the above-mentioned functions of the devices take place within a communication duration, which in practice is often a time unit of tens of milliseconds, and can be set to 10ms, i.e. the length of a frame of the 5G standard.

Specifically, to realize visible light communication of the unmanned aerial vehicle under high-speed movement, positioning of the unmanned aerial vehicle needs to be repeatedly calibrated, and the steps after positioning also need to be repeatedly performed, the communication interval between the positioning and the positioning can be set for a duration not limited to 10ms, and the interval can also be adjusted by capturing the movement speed and the posture of the receiving unmanned aerial vehicle through a camera, and if the receiving unmanned aerial vehicle is found to be in a hovering state, the communication interval is prolonged to tens of milliseconds to hundreds of milliseconds; if the unmanned aerial vehicle is in a high-speed motion state, the interval is set to be less than 100 ms.

Specifically, if under the condition of low visibility, a reflective coating can be coated on the receiving end, and in the positioning stage of the multi-camera 1, the visible light emitting device 2 is used for rotatably emitting light with longer wavelength in visible light, so that the discrimination of receiving the unmanned aerial vehicle and the environment is enhanced, and the positioning precision is improved.

In a specific implementation, the adjustment range of the emission angle of the visible light emitting device 2 can be any degree between 0 and 180 degrees, and the precision is not limited to 1 degree.

In specific implementation, if special requirements are met, the emitting port of the visible light device 4 can be set to be changeable different shapes, such as triangular, square, pentagonal, hexagonal, and the like, so that the effect of convenient use is achieved.

In a specific implementation, the type of the receiving unit 3 may be configured with receivers such as, but not limited to, PD, APD, ImR, etc. according to the usage of the drone.

Features of combinations of parts not described in detail in the specification are readily ascertainable and would not be objectionable to those skilled in the art or to practice the present invention. The above embodiments are only descriptions of preferred embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily implement the embodiments within the scope of the present application without changing the claims to change or replace the basic principles, and the scope of the present application shall be covered by the claims.