Rapid antenna anti-collision detection method

Abstract

The invention relates to a rapid antenna anti-collision detection method, which can independently operate in a control box of a helical antenna or can operate in a control box of a plurality of helical antennas in a matched manner, so that the helical antenna does not generate collision risk, and a collision detection result can be rapidly and efficiently calculated. The method comprises the following steps: 1) establishing a three-dimensional coordinate system on the basis of rotary tables and mounting planes of two antennas; 2) taking the horizontal and pitching angles of the rotary table and the length of the antenna as input parameters of collision detection; 3) calculating a projection relation between an XY plane and a YZ plane based on coordinate projection; and 4) judging the collision risk according to a calculation result. According to the invention, the problems that the resource occupation is too high and the detection speed is not timely when the single-chip microcomputer in the control box carries out collision risk detection are solved, and the operation efficiency of the control box is improved through an optimized algorithm.

Description

Technical Field

[0001] The present invention generally relates to anti-collision detection of antennas, and more particularly to antennas with cylindrical envelope shapes such as helical antennas. Background Art

[0002] The existing anti-collision processing method for helical antennas is to install the two antennas at a distance in space where collision is impossible. If two or more helical antennas are installed in a limited space, manual observation is currently used for anti-collision detection; however, the control efficiency of the manual observation method is very low, or there is a risk of collision due to lack of experience.

[0003] After searching some subsequent technologies, it was found that there are also some methods that use three-dimensional coordinate line segment formulas and space line segment interpolation calculations to calculate the shortest distance of antennas. These methods can realize automatic control of antennas, but there are problems with complex calculations. The coordinate line segment formula calculation method has the problem that the differential calculation process occupies too many computing resources, and the space line segment interpolation calculation has too many process steps. The above various anti-collision methods all have some disadvantages such as poor user withdrawal, slow control operation, and the need for manual intervention. Summary of the invention

[0004] In view of this, the present invention is to propose a fast antenna anti-collision detection method, which simplifies the calculation process of the spatial coordinate system into the calculation of the plane coordinate system, and the number of calculation process steps is not completely consistent depending on the different positional relationships of the antennas, so the calculation process complexity and resource occupancy rate can be minimized as much as possible.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] The line connecting the turntables of the two antennas is used as the X-axis of the coordinate system; the turntable of the first antenna is used as the origin, and the surface parallel to the installation platform is the XY plane; in the XY plane, the line perpendicular to the XY plane through the turntable of the first antenna is used as the Z-axis.

[0007] The vector method is used to calculate the projection relationship between the two antennas on the XY plane. If there is no interference after projection, there is no risk of collision between the two antennas.

[0008] If there is a risk of interference after calculating the XY plane projection using the vector method, it is necessary to further calculate the projection relationship of the YZ plane.

[0009] Project the two points whose projection distance on the XY plane is closest (or intersecting) onto the YZ plane and calculate the distance between the two projection points.

[0010] If the calculated projection distance on the YZ plane is less than or equal to the enclosing radius of the two antennas, there is a collision risk, otherwise there is no collision risk.

[0011] Compared with the existing technology, the beneficial effects of the present invention are embodied in:

[0012] The present invention proposes a new antenna anti-collision detection method, which is suitable for anti-collision detection of antennas with cylindrical envelope shapes such as helical antennas, and has the characteristics of high execution efficiency, fast calculation speed, etc.

[0013] The feasibility is mainly reflected in that the antenna anti-collision detection method of the present invention can simplify the calculation steps of collision detection. Specifically, it is reflected in that the distance between two line segments in the three-dimensional coordinate system is simplified to the distance calculation between two line segments in the plane coordinate system by using the principle that the capsule projection does not change the enclosing radius.

[0014] The output result calculated by the detection method of the present invention is a quantitative value, which is better than the step-by-step approximation method of the spatial line segment interpolation method. When the spatial line segment interpolation method is used, if a distance value with higher accuracy needs to be obtained, more interpolation numbers are required, which brings the disadvantage of a large amount of calculation, otherwise there is a problem of low accuracy. The present invention also does not have this problem after simplifying the calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a calculation flow chart of the antenna anti-collision detection involved in the present invention;

[0016] Figure 2 It is a schematic diagram of the projection of the antenna enclosed in the XY plane;

[0017] Figure 3 Schematic diagram of the projection of the antenna enclosure on the YZ plane. DETAILED DESCRIPTION

[0018] The antenna anti-collision detection method in this embodiment performs the following steps:

[0019] 1. Obtain the azimuth angle α and elevation angle θ of the antenna;

[0020] 2. Confirm the capsule bounding box of the collision body according to the radius of the antenna;

[0021] 3. Calculate the projection of the antenna on the XY plane based on its length;

[0022] 4. Set the length of the antenna to L0, the coordinates of the turntable P1 of antenna one to (0,0,0), the azimuth angle to α1, and the elevation angle to θ1, and the coordinates of the turntable P2 of antenna two to (x0,0,0), the azimuth angle to α2, and the elevation angle to θ2;

[0023] 5. According to the projection relationship, the projection coordinates of the moving end of antenna 1 are calculated as P 1_xy(L0cosθ1cosα1, L0cosθ1sinα1), the projection coordinates of the moving end of antenna 2 are P 2_xy (x0+L0cosθ2cosα2, L0cosθ2sinα2);

[0024] 6. Take vectors separately V1, vector V2, vector For V3 and vector For V4;

[0025] 7. Calculate the positive and negative relationship between V2·V3 and V2·V4 to determine whether the two line segments intersect;

[0026] 8. According to vectors V1 and V2, the minimum distance value L between two line segments can be obtained min_xy and the coordinates of the closest point;

[0026] 9. Minimum distance value L min_xy If it is larger than the sum of the enclosing radii of the two antennas, then a collision is impossible and the antennas can continue to move;

[0027] 10. When the minimum distance value L min_xy When it is less than or equal to the enclosing radius of the two antennas, it is necessary to calculate its projection on the YZ plane based on the length of the antenna;

[0028] 11. Calculate the projection coordinates of the moving end of antenna 1 on the YZ plane as P 1_yz (L0cosθ1sinα1, L0sinθ1), the projection coordinates of the moving end of antenna 2 are P 2_yz (L0cosθ2sinα2, L0sinθ2);

[0029] 12. Project the two points P closest to each other on the XY plane 1_min and P 2_min Project onto the YZ plane;

[0030] 13. Calculate P 1_min and P 2_min Projection on the YZ plane is distance L min_yz ;

[0031] 14. When the distance value L min_yz If it is larger than the sum of the enclosing radii of the two antennas, a collision is impossible, the collision detection ends, and the antennas can continue to move;

[0032] 15. When the distance value L min_yz When it is less than or equal to the sum of the enclosing radii of the two antennas, there is a risk of antenna collision and it is necessary to stop operation or re-plan the operation path.

[0033] Finally, it is to be noted that the above embodiments are only used to illustrate the technical application of the present invention rather than to limit the present invention. Although the present invention has been described in detail through the above embodiments, various changes can be made in form and details in this field and related fields without departing from the scope defined by the claims of the present invention.

Claims

1. A fast antenna anti-collision detection method, the characteristics of which include: S1. Establish a capsule body surrounding the two antennas, and confirm the X-axis distribution of the three-dimensional coordinate system according to the installation positions of the two turntables; S2, take the turntable position of the first antenna as the origin, and the plane parallel to the installation platform as the XY plane; S3. In the XY plane, draw a line perpendicular to the XY plane through the turntable of the first antenna as the Z axis; S4. Determine the projection position relationship of the two antennas in the XY plane according to their lengths, azimuths and elevation angles; S5. Determine the projection position relationship of the two antennas in the XY plane. If there is no interference, there is no need to determine the projection relationship of the two antennas in the YZ plane. S6. If the projections of the two antennas on the XY plane interfere with each other, it is necessary to further determine the projection relationship of the two antennas in the YZ plane. S7. If there is no interference between the projections of the two antennas in the YZ plane, the antennas will not collide. Otherwise, there is a risk of collision and the antenna action needs to be stopped.

2. A fast antenna anti-collision detection method according to claim 1, characterized in that: If there are multiple antennas that may collide in S1-S3, multiple coordinate systems may be established between the antennas.

3. A fast antenna anti-collision detection method according to claim 1, characterized in that: There are multiple criteria for confirming the X, Y, and Z axes of the coordinate system in S1-S3, and the principles are the same.

4. A fast antenna anti-collision detection method according to claim 1, characterized in that: In S4, the pitch and horizontal angles of the antennas need to be acquired in real time according to the sensor, and the shortest distance (or intersection) point of the projection line segments of the two antennas in the XY plane needs to be calculated according to the acquired angles.

5. A fast antenna anti-collision detection method according to claim 1, characterized in that: The calculation of the closest distance (or intersection) point between two antenna projection line segments in the XY plane includes: S8. Assume that the lengths of the two antennas are both L0, the coordinates of the first antenna fixed end P1 are (0,0,0), the coordinates of the second antenna fixed end P2 are (x0,0,0), the azimuth angle of the first antenna is α1, the elevation angle is θ1, the azimuth angle of the second antenna is α2, and the elevation angle is θ2; S9. According to the parameters set in S8, the projection point coordinates of the active ends of the two antennas on the XY plane are obtained as P 1_xy (L0cosθ1cosα1, L0cosθ1sinα1) and P 2_xy (x0+L0cosθ2cosα2, L0cosθ2sinα2); S10, take vectors respectively V1, vector V2, vector For V3 and vector For V4; S11, calculate the positive and negative relationship between V2·V3 and V2·V4 to determine whether the two line segments intersect; S12, according to vectors V1 and V2, the minimum distance value between two line segments and the coordinates of the closest distance point can be obtained; S13. According to the rule that the projection of the capsule body will not change the enclosing radius of the capsule body, whether there is projection interference between the antennas is determined according to the shortest distance calculated in S12.

6. A fast antenna anti-collision detection method according to claim 5, characterized in that: When the shortest distance determined according to the S13 rule is greater than the sum of the enclosing radii of the two antennas, there is no risk of antenna collision; when the shortest distance determined is less than or equal to the sum of the enclosing radii of the two antennas, it is necessary to determine the projection relationship between the two antennas on the YZ plane.

7. A fast antenna anti-collision detection method according to claim 6, characterized in that: Project the two points that are closest to each other on the XY plane onto the YZ plane and calculate the distance between the two points.

8. A fast antenna anti-collision detection method according to claim 7, characterized in that: The distance calculation between two points involves: S14, according to the calculation result of S12, projecting the two nearest points onto the YZ plane according to trigonometric functions; S15. Calculate the projection distance between the two points according to the projection parameters of the YZ plane.

9. A fast antenna anti-collision detection method according to claim 10, characterized in that: When the projection distance calculated by S15 is greater than the sum of the enclosing radii of the two antennas, there is no risk of collision between the antennas.

10. A fast antenna anti-collision detection method according to claim 10, characterized in that: When the distance calculated by S15 is less than or equal to the sum of the enclosing radii of the two antennas, there is a risk of collision between the antennas.

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