Method for aerial target investigation and collision of unmanned aerial vehicle

Abstract

According to the method for aerial target investigation and collision of the unmanned aerial vehicle, the collision type unmanned aerial vehicle platform is controlled through the image recognition algorithm and the closed-loop flight control algorithm to achieve aerial investigation and target collision, in the complex flight environment, the target positioning and collision precision of the unmanned aerial vehicle can be improved through the method, and the unmanned aerial vehicle is more accurate in target positioning and collision. A non-target area is prevented from being accidentally injured; under the condition that the opposite side adopts a communication link and a positioning navigation signal counteracts interference, the unmanned aerial vehicle can complete target investigation and collision tasks in a full-autonomous manner without receiving instructions or transmitting key information through the method.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method for detecting and colliding aerial targets of unmanned aerial vehicles. Background Art

[0002] The current drone technology is generally used in recreational areas or in agriculture and daily production, and is rarely used for aerial target reconnaissance and collision. For example, the published patent 2017113549805 discloses an early warning drone surveillance and reconnaissance system, which can perform surveillance and reconnaissance work, but cannot counterattack. The existing drone aerial target reconnaissance and collision methods have the following defects and shortcomings. In some cases, especially in complex or dynamically changing flight environments, the target positioning and collision accuracy of drones are insufficient, resulting in the inability to accurately hit the target or accidentally injuring non-target targets; when the other party takes counter-interference measures against communication links and positioning and navigation signals, the drone will not be able to receive instructions or transmit key information, and the drone will not be able to fly according to the set route; the existing drones using inertial navigation technology have certain effects in resisting positioning and navigation signal interference, but the cost is relatively high. Summary of the invention

[0003] The purpose of the present invention is to provide a method for aerial target detection and collision of unmanned aerial vehicles, which realizes aerial detection and target collision by controlling an impact-type unmanned aerial vehicle platform through an image recognition algorithm and a closed-loop flight control algorithm, thereby solving the current problems of inaccurate positioning of unmanned aerial vehicles and easy occurrence of accidental injuries.

[0004] The present invention provides a method for detecting and striking aerial targets of unmanned aerial vehicles, the method comprising the following steps: Step S1: an optoelectronic pod and a flight control module are mounted on the impact UAV platform, and the flight control module receives and calculates the relative position data of the target sent by the optoelectronic pod in real time, and controls the impact UAV platform to maneuver and hit the target; Step S2: The optoelectronic pod collects image data in real time through visible light / thermal infrared sensors, and compares it with the target information in the database. After comparing the blacklist target or the non-whitelist target through the image recognition algorithm, the target is locked through the pan-tilt control; Step S3: After the pod locks the target, the angle information of the gimbal is sent to the flight control module in real time. The flight control module calculates the relative position information of the impact UAV platform and the target in real time through the gimbal angle information fed back by the optoelectronic pod, the installation position information of the optoelectronic pod relative to the flight control module, and the angle information of the impact UAV platform collected by the gyroscope in the flight control module, and then adjusts the attitude and maneuverability of the impact UAV platform to keep the nose of the impact UAV platform aligned with the target in real time; Step S4: The impact-type target collision mainly uses an impact-type UAV platform to impact the target to complete the target collision. The impact-type UAV uses the target position solution control of the flight control module to always keep its nose facing the target and approach the target at the maximum speed, and finally hits the target, thereby completing the purpose of the impact-type target collision.

[0005] A further improvement is that in step S1, the optoelectronic pod collects image information, identifies the target, locks and tracks the target, and sends the relative position information of the target to the flight control module in real time.

[0006] A further improvement is that the target information in the database in step S2 is determined by presetting blacklist target information and whitelist target information in advance.

[0007] A further improvement is that: in step S2, locking the target by pan / tilt control is to lock the target in real time at the center of the image.

[0008] A further improvement is that in step S4, the impact-type UAV platform enhances the impact strength by carrying a warhead.

[0009] The beneficial effects of the present invention are as follows: in a complex flight environment, the method can improve the target positioning and collision accuracy of the UAV, and avoid accidental damage to non-target areas; when the opponent takes counter-interference measures such as communication links and positioning navigation signals, the UAV will not need to receive instructions or transmit key information through this method, and can complete target reconnaissance and collision tasks fully autonomously; the method can greatly reduce the cost of such impact-type detection and strike UAVs, and can be mass-produced to form an unmanned low-cost detection and strike system. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a hardware schematic diagram of the present invention.

[0011] Figure 2 It is a flowchart illustrating the method of the present invention. DETAILED DESCRIPTION

[0012] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0013] like Figure 1-2As shown, this embodiment provides a method for aerial target detection and collision of unmanned aerial vehicles, and the hardware carrier of the method is: an impact-type unmanned aerial vehicle platform (an aircraft platform with certain flight maneuverability and load capacity) equipped with an optoelectronic pod (the main function of the optoelectronic pod is to collect image information, identify targets, lock and track targets, and send the relative position information of the target to the flight control module in real time) and a flight control module (the main function is to receive and solve the relative position data of the target sent by the optoelectronic pod in real time, and control the impact-type unmanned aerial vehicle platform to maneuver and collide with the target).

[0014] Target detection method: The optoelectronic pod collects image data in real time through visible light / thermal infrared sensors, and compares it with the target information in the database (blacklist target information and whitelist target information can be preset in advance). After comparing the blacklist target or the non-whitelist target through the image recognition algorithm, the target is locked through gimbal control (the target is locked in the center of the image in real time).

[0015] Target position calculation method: After the pod locks the target, the angle information of the gimbal is sent to the flight control module in real time. The flight control module calculates the relative position information of the impact UAV platform and the target in real time through the gimbal angle information fed back by the optoelectronic pod, the installation position information of the optoelectronic pod relative to the flight control module, and the angle information of the impact UAV platform collected by the gyroscope in the flight control module, and then adjusts the attitude and maneuverability of the impact UAV platform to keep the nose of the impact UAV platform aimed at the target in real time.

[0016] Impact target impact method: Impact target impact mainly uses an impact drone platform to impact the target to complete the target impact. The impact drone platform can also carry a warhead to enhance the impact strength. The impact drone uses the target position solution control of the flight control module to always keep its nose facing the target and approach the target at the maximum speed, and finally hit the target to complete the purpose of impact target impact.

[0017] The method for aerial detection and collision of drones described in this embodiment is implemented based on the following hardware (such as Figure 1 As shown). It includes an impact UAV platform, a flight control system module, and an optoelectronic pod. The optoelectronic pod is installed on the impact UAV platform and is connected to the flight control system for communication; the flight control system module is installed on the impact UAV platform, one end of which is connected to the optoelectronic pod for communication, and the other end of which is connected to the impact UAV platform for communication.

[0018] Normally, when the optoelectronic pod detects a target through image recognition and comparison algorithms and locks onto the target, it sends the angle information of its gimbal to the flight control system module in real time; the flight control system module uses the gimbal angle information sent by the optoelectronic pod and the angle information of its own gyroscope to calculate the position information, and sends the flight control instructions to the impact UAV platform in real time. The impact UAV platform performs maneuvering flight according to the flight instructions sent by the flight control system until it collides with the target, thus completing the closed-loop control and mission of the UAV's aerial reconnaissance and collision.

Claims

1. A method for detecting and striking aerial targets by a drone, characterized in that: The method comprises the following steps: Step S1: an optoelectronic pod and a flight control module are mounted on the impact UAV platform, and the flight control module receives and calculates the relative position data of the target sent by the optoelectronic pod in real time, and controls the impact UAV platform to maneuver and hit the target; Step S2: The optoelectronic pod collects image data in real time through visible light / thermal infrared sensors, and compares it with the target information in the database. After comparing the blacklist target or the non-whitelist target through the image recognition algorithm, the target is locked through the pan-tilt control; Step S3: After the pod locks the target, the angle information of the gimbal is sent to the flight control module in real time. The flight control module calculates the relative position information of the impact UAV platform and the target in real time through the gimbal angle information fed back by the optoelectronic pod, the installation position information of the optoelectronic pod relative to the flight control module, and the angle information of the impact UAV platform collected by the gyroscope in the flight control module, and then adjusts the attitude and maneuverability of the impact UAV platform to keep the nose of the impact UAV platform aligned with the target in real time; Step S4: The impact-type target collision mainly uses an impact-type UAV platform to impact the target to complete the target collision. The impact-type UAV uses the target position solution control of the flight control module to always keep its nose facing the target and approach the target at the maximum speed, and finally hits the target, thereby completing the purpose of the impact-type target collision.

2. A method for detecting and striking aerial targets by a drone as claimed in claim 1, characterized in that: In step S1, the optoelectronic pod collects image information, identifies the target, locks and tracks the target, and sends the relative position information of the target to the flight control module in real time.

3. A method for detecting and striking aerial targets by a drone as claimed in claim 1, characterized in that: In the step S2, the target information in the database is determined by presetting the blacklist target information and the whitelist target information in advance.

4. A method for detecting and striking aerial targets by a drone as claimed in claim 3, characterized in that: In step S2, locking the target by PTZ control is to lock the target at the center of the image in real time.

5. A method for detecting and striking aerial targets by a drone as claimed in claim 1, characterized in that: In step S4, the impact-type UAV platform enhances the impact strength by carrying a warhead.

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