CN114115289A - Autonomous unmanned cluster reconnaissance system - Google Patents
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Abstract
The invention particularly discloses an autonomous unmanned cluster reconnaissance system, which comprises a management command platform, a communication module and an unmanned reconnaissance robot group, wherein: the management and control platform is used for setting a reconnaissance task, sending the reconnaissance task to the unmanned reconnaissance robot group under remote centralized control, receiving and processing reconnaissance data information of the unmanned reconnaissance robot group, and simultaneously constructing a surrounding environment map and displaying the reconnaissance task and the reconnaissance data information; the communication module is used for realizing data interaction between the management command platform and the unmanned reconnaissance robot group; and the unmanned reconnaissance robot group performs reconnaissance according to the reconnaissance task of the management and command platform and transmits the environment and target data information obtained by reconnaissance to the management and command platform. The invention utilizes the management and control platform to remotely and centrally control the unmanned reconnaissance robot population, effectively realizes high-efficiency reconnaissance on the surrounding environment and the target, and has the characteristics of high robustness and real-time property.
Description
Technical Field
The invention relates to the technical field of unmanned reconnaissance, in particular to an autonomous unmanned cluster reconnaissance system.
Background
At present, the unmanned reconnaissance robot population is mainly subjected to index measurement from two aspects of situation perception capability and actual combat reliability. At present, the existing unmanned reconnaissance robot group mainly comprises a single robot reconnaissance platform provided with sensors such as a laser radar, an infrared thermal imager and an optical camera. In the aspect of situation perception capability, the number of single robot systems in operation is too small, and rapid reconnaissance on a target area is difficult to carry out. Meanwhile, due to the limitation of the performance of the single robot platform, the system also lacks the autonomous planning capability of efficiently and quickly acquiring the processing capability in real time and continuously performing reconnaissance and monitoring under uncertain conditions when facing a large number of dynamically-changed sub-targets distributed in the environment of the region to be reconnaissance. In the aspect of reconnaissance reliability, a single robot reconnaissance system is greatly influenced by environmental factors, and an unmanned combat platform needs to go to a target area from a fixed field to execute a reconnaissance task under a general condition and is difficult to quickly reach the target area in response to a temporary combat requirement.
Disclosure of Invention
In order to solve the technical problem, the invention provides an autonomous unmanned cluster reconnaissance system, which comprises a management and command control platform, a communication module and an unmanned reconnaissance robot group, wherein:
the management and control platform is used for setting a reconnaissance task, sending the reconnaissance task to the unmanned reconnaissance robot group under remote centralized control, receiving and processing reconnaissance data information of the unmanned reconnaissance robot group, and simultaneously constructing a surrounding environment map and displaying the reconnaissance task and the reconnaissance data information;
the communication module is used for realizing data interaction between the management command platform and the unmanned reconnaissance robot group;
and the unmanned reconnaissance robot group performs reconnaissance according to the reconnaissance task of the management and command platform and transmits the environment and target data information obtained by reconnaissance to the management and command platform.
Preferably, the management commanding platform comprises:
the human-computer interaction module is used for acquiring voice or/and action information of an operator and performing information identification according to a preset information database;
the operation instruction setting module is used for setting an operation instruction corresponding to the reconnaissance task according to the information identified by the human-computer interaction module and changing the operation instruction of the reconnaissance task according to the reconnaissance data information of the unmanned reconnaissance robot group;
the task setting module is used for setting parameters of the reconnaissance tasks and assigning the set reconnaissance tasks to the unmanned reconnaissance robot group;
and the video display module is used for displaying the interaction information of the human-computer interaction module and displaying the equipment condition of the unmanned reconnaissance robot group and a real-time video picture of the reconnaissance task of the unmanned reconnaissance robot group in real time.
Preferably, the communication module is a NexFi MF1400 ad hoc network module formed by a hybrid manner of an ad hoc network mesh network and a common AP local area network.
Preferably, unmanned reconnaissance robot crowd includes through management and instructs a plurality of heterogeneous robot cell of control in order to spy on surrounding environment and target that the platform formation is controlled, each heterogeneous robot cell all include an unmanned vehicle and with unmanned vehicle assorted unmanned aerial vehicle, all be equipped with the lidar that is used for real-time perception surrounding environment information and be used for the suspicious target's of real-time detection surrounding environment camera on each unmanned vehicle, all be equipped with the flight control module that is used for controlling unmanned aerial vehicle smooth flight on each unmanned aerial vehicle and be used for carrying out aerial remote environment perception and target detection's depth camera to the target area.
Preferably, the management commanding and controlling platform is further provided with an equipment management module, and the equipment management module is used for displaying equipment conditions of the plurality of heterogeneous robot units and setting a safety electric quantity threshold value of the unmanned aerial vehicle in each heterogeneous robot unit.
Compared with the prior art, the invention has the advantages that the invention mainly comprises the following aspects:
1. the set reconnaissance task is downloaded to the unmanned reconnaissance robot group through the management and control platform, the unmanned reconnaissance robot group transmits the reconnaissance video picture information to the management and control platform and displays the reconnaissance video picture information, meanwhile, the management and control platform can search suspicious targets according to the reconnaissance video picture information, when an operator identifies the suspicious targets of the current image as the suspicious targets in the information database, a warning information command can be sent out, and the efficient and rapid reconnaissance of the environment and the targets in a reconnaissance area is realized;
2. the unmanned reconnaissance robot crowd is remotely controlled in formation through the management and control platform, autonomous navigation and path planning of a pilot are combined, and a plurality of heterogeneous robot units can be separately and autonomously navigated in a turnout area; in a wide area of the road surface, a pilot-follower formation mode can be adopted to expand the reconnaissance area of the target, so that the flexibility of formation actions of unmanned reconnaissance robot groups is effectively enhanced, and the success rate and the reconnaissance precision of reconnaissance tasks are improved;
3. according to the invention, by arranging the unmanned reconnaissance robot group combining the aerial unmanned aerial vehicle and the ground unmanned vehicle, a global overhead image and a local head-up image can be provided so as to obtain comprehensive and rich scene environment information, and the management command platform can take the SLAM technology as a core on the basis and fuse the surrounding environment information acquired from different visual angles and different positions together to construct an environment map.
4. In the process of reconnaissance, the unmanned reconnaissance robot crowd acquires image information in real time through the airborne vision sensor, and can remotely monitor and track suspicious targets in video images on the management and control platform.
Drawings
Fig. 1 is a flow chart of the autonomous unmanned cluster reconnaissance system of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention is further described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an autonomous unmanned cluster reconnaissance system includes a management and command platform, a communication module, and an unmanned reconnaissance robot population, wherein:
the management and control platform is used for setting a reconnaissance task, sending the reconnaissance task to the unmanned reconnaissance robot group under remote centralized control, receiving and processing reconnaissance data information of the unmanned reconnaissance robot group, and simultaneously constructing a surrounding environment map and displaying the reconnaissance task and the reconnaissance data information;
the communication module is used for realizing data interaction between the management command platform and the unmanned reconnaissance robot group;
and the unmanned reconnaissance robot group performs reconnaissance according to the reconnaissance task of the management and command platform and transmits the environment and target data information obtained by reconnaissance to the management and command platform.
In this embodiment, the scout data information includes video frame information of the surrounding environment and the target of the unmanned scout robot group. The unmanned reconnaissance robot crowd acquires data information of surrounding environment and targets according to the reconnaissance tasks set by the management and control platform and transmits the data information to the management and control platform in real time for display, and the management and control platform performs search, identification and alarm on the reconnaissance targets according to the received target data information, so that the rapid and efficient reconnaissance of the reconnaissance tasks is realized; meanwhile, the management command platform can also quickly construct an ambient map according to the received ambient data information.
In this embodiment, suspicious target in the camera but real-time detection surrounding environment, laser radar can carry out the perception in order to be used for constructing the map to the surrounding environment in real time, and the depth camera can carry out aerial remote environmental perception and target detection to the target area in real time, unmanned reconnaissance robot crowd's reconnaissance equipment still includes on-vehicle computer, GPS (Global Positioning System), camera and the airborne computer on sensor and the unmanned aerial vehicle on the unmanned aerial vehicle. In order to realize that the unmanned reconnaissance robot crowd avoids obstacles on dynamic obstacles when executing a routing inspection task, a dynamic window method is adopted to design a path planning algorithm, the dynamic window method mainly comprises the steps of sampling multiple groups of speeds in a speed (v, w) space (v represents a linear speed, and w represents an angular speed), simulating the tracks of an unmanned aerial vehicle and an unmanned vehicle in the unmanned reconnaissance robot crowd within a certain time at the speeds, evaluating the tracks after obtaining the multiple groups of tracks, and selecting the speed corresponding to the optimal track to drive the unmanned aerial vehicle and the unmanned vehicle to move. The reconnaissance task comprises the tasks of obtaining surrounding environment information, detecting, following, surrounding and catching a target, warning and the like.
Wherein, the management commanding and controlling platform comprises:
the human-computer interaction module is used for acquiring voice or/and action information of an operator and performing information identification according to a preset information database;
the operation instruction setting module is used for setting an operation instruction corresponding to the reconnaissance task according to the information identified by the human-computer interaction module and changing the operation instruction of the reconnaissance task according to the reconnaissance data information of the unmanned reconnaissance robot group;
the task setting module is used for setting parameters of the reconnaissance tasks and assigning the set reconnaissance tasks to the unmanned reconnaissance robot group;
and the video display module is used for displaying the interaction information of the human-computer interaction module and displaying the equipment condition of the unmanned reconnaissance robot group and a real-time video picture of the reconnaissance task of the unmanned reconnaissance robot group in real time.
In this embodiment, the information database includes a natural language element library, a gesture interaction element library, a suspicious object database, and the like, the video display module adopts a plurality of screens to synchronously display video pictures of 4/9/16 unmanned aerial vehicles or/and unmanned aerial vehicles, and can dynamically adjust the number of screens displayed, meanwhile, the status and the specific information of the scout tasks can be displayed, including the tasks in execution, the interrupted tasks and the finished tasks, moreover, the video display module also comprises a two-dimensional map display interface and a three-dimensional map display interface, the aerial unmanned aerial vehicle can upload the whole ground environment state to the two-dimensional map display interface of the management and control platform and display the running track of the aerial unmanned aerial vehicle, and then the modeling process can be displayed in real time by combining a three-dimensional map display interface with an Rviz (three-dimensional visualization platform) interface in an ROS (Robot Operating System). When an operator interacts with the management and control platform through voice or/and motion information, the man-machine interaction module identifies the interaction information of the operator according to a preset information database, then the task setting module is used for setting corresponding reconnaissance task parameters and setting operation instructions corresponding to reconnaissance tasks in the operation instruction setting module, then the operation instructions are transmitted to the unmanned reconnaissance robot group, the unmanned reconnaissance robot group transmits reconnaissance real-time video pictures to the video display module for display, at the moment, the video display module displays the man-machine interaction information and the equipment conditions of the unmanned reconnaissance robot group, and stable and efficient execution of reconnaissance tasks is guaranteed, wherein the equipment conditions of the unmanned reconnaissance robot group comprise unmanned vehicles, reconnaissance equipment on the unmanned vehicles, reconnaissance equipment on the unmanned vehicles and IP addresses of the unmanned vehicles, Signal strength, electric quantity information, current task number, the IP address of unmanned aerial vehicle, signal strength, electric quantity information, current task number and the like.
The communication module is a NexFi MF1400 ad hoc network module (a small-sized private network communication module which is independently developed by the ad hoc network and is realized by adopting a wireless broadband ad hoc network technology) which is formed by a hybrid mode of an ad hoc network mesh network (a wireless local area network type, namely a mesh structure network, also called a multi-hop (multi-hop) network) and a common AP (Access Point) local area network.
In the embodiment, the hybrid communication mode is designed for an actual field scene, and has the advantages of being ready to use when starting up and not needing deployment, the communication module adopts a NexFi MF1400 ad hoc network module formed by a hybrid mode of an ad hoc network mesh network and a common AP local area network, the NexFi MF1400 ad hoc network module is a set of communication devices with wireless transceiver devices, a plurality of nodes of the communication device can form an intelligent, multi-hop, mobile and peer-to-peer decentralized temporary autonomous network communication system, the nodes are connected in a dynamic mesh mode and are free of central nodes, network flow can be effectively shared, and the hybrid communication mode has stronger network robustness and adopts a wireless broadband ad hoc network technology. Therefore, the unmanned reconnaissance robot crowd can transmit contents such as videos and pictures in a reconnaissance process to the management command platform through the communication module so as to allow an operator to distinguish suspicious targets.
The unmanned reconnaissance robot group comprises a plurality of heterogeneous robot units which are controlled to reconnoitre the surrounding environment and the target through a management and control platform, each heterogeneous robot unit comprises an unmanned vehicle and an unmanned vehicle matched with the unmanned vehicle, each unmanned vehicle is provided with a laser radar used for sensing surrounding environment information in real time and a camera used for detecting suspicious targets of the surrounding environment in real time, and each unmanned vehicle is provided with a flight control module used for controlling the unmanned vehicle to fly stably and a depth camera used for conducting aerial remote environment sensing and target detection on the target area.
In the embodiment, the Unmanned reconnaissance robot group comprises three heterogeneous robot units which are controlled by a management and command platform formation, each heterogeneous robot unit comprises a heterogeneous combination of an Unmanned Vehicle (Unmanned group Vehicle) and an Unmanned Aerial Vehicle (Unmanned Aerial Vehicle) which is matched with the Unmanned Vehicle and carried on the Unmanned Vehicle, the heterogeneous robot units are cooperatively formed and controlled by a consistency-based clustering algorithm and combining pilot autonomous navigation and path planning, the heterogeneous robot units can be independently navigated in a turnout area, a target reconnaissance area can be effectively enlarged by adopting a pilot-follower formation mode in the road surface opening area, the reconnaissance precision is improved, and meanwhile, comprehensive and rich head-up scene information is obtained by utilizing a global overhead image provided by the Unmanned Aerial Vehicle and a local overhead image of the Ground Unmanned Vehicle, the management commanding and control platform takes an SLAM (simultaneous localization and mapping) technology as a core on the basis of obtaining comprehensive and rich scene information and fuses the surrounding environment information collected from different perspectives and different positions together to construct an environment map, and the method specifically comprises the following steps: an ICP (Iterative Closest Point) algorithm is used for searching a nearest corresponding Point estimation conversion matrix, namely, the minimum value of an objective function is firstly calculated, multiple iterations are carried out, then the conversion matrix is calculated, then different Point clouds are fused together, and a DBoW2 bag-of-words model is used for carrying out loop detection to optimize the pose and complete the construction of the surrounding environment map; and the cooperative tracking is carried out through a twin network target tracking algorithm based on a lightweight network of an aerial unmanned aerial vehicle and a ground unmanned vehicle, and the cooperative tracking method specifically comprises the following steps: the method comprises the following steps of constructing a corresponding target library for known target data, performing feature storage, and completing detection and tracking of a target, wherein the method comprises three modules: the unmanned aerial vehicle tracking system comprises a feature extraction module, a target score estimation module and a scale estimation module, so that the precision of a target tracking algorithm is effectively improved, and the real-time tracking requirement of the unmanned aerial vehicle is met. In this embodiment, according to unmanned aerial vehicle's operational environment characteristics, use vision inertia odometer to fix a position.
The management and control platform is further provided with an equipment management module, and the equipment management module is used for displaying equipment conditions of the plurality of heterogeneous robot units and setting a safety electric quantity threshold value of the unmanned aerial vehicle in each heterogeneous robot unit. In this embodiment, set up unmanned aerial vehicle's safe electric quantity threshold value through equipment management module, and then when unmanned aerial vehicle's electric quantity was less than safe electric quantity threshold value, this unmanned aerial vehicle will return automatically to and charge on the unmanned aerial vehicle, guarantees that the reconnaissance task lasts the efficient operation.
The autonomous unmanned cluster reconnaissance system provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. An autonomous unmanned cluster reconnaissance system, comprising a management and command platform, a communication module and an unmanned reconnaissance robot population, wherein:
the management and control platform is used for setting a reconnaissance task, sending the reconnaissance task to the unmanned reconnaissance robot group under remote centralized control, receiving and processing reconnaissance data information of the unmanned reconnaissance robot group, and simultaneously constructing a surrounding environment map and displaying the reconnaissance task and the reconnaissance data information;
the communication module is used for realizing data interaction between the management command platform and the unmanned reconnaissance robot group;
and the unmanned reconnaissance robot group performs reconnaissance according to the reconnaissance task of the management and command platform and transmits the environment and target data information obtained by reconnaissance to the management and command platform.
2. The autonomous unmanned cluster reconnaissance system of claim 1, wherein the management command platform comprises:
the human-computer interaction module is used for acquiring voice or/and action information of an operator and performing information identification according to a preset information database;
the operation instruction setting module is used for setting an operation instruction corresponding to the reconnaissance task according to the information identified by the human-computer interaction module and changing the operation instruction of the reconnaissance task according to the reconnaissance data information of the unmanned reconnaissance robot group;
the task setting module is used for setting parameters of the reconnaissance tasks and assigning the set reconnaissance tasks to the unmanned reconnaissance robot group;
and the video display module is used for displaying the interaction information of the human-computer interaction module and displaying the equipment condition of the unmanned reconnaissance robot group and a real-time video picture of the reconnaissance task of the unmanned reconnaissance robot group in real time.
3. The autonomous unmanned trunked reconnaissance system of claim 2 wherein the communication module is a NexFi MF1400 ad hoc network module formed by a hybrid manner of an ad hoc mesh network and a common AP local area network.
4. The autonomous unmanned reconnaissance cluster reconnaissance system of claim 3, wherein the unmanned reconnaissance robot population comprises a plurality of heterogeneous robot units which are controlled by the management and command platform formation to reconnaissance the surrounding environment and the target, each heterogeneous robot unit comprises an unmanned vehicle and an unmanned aerial vehicle matched with the unmanned vehicle, each unmanned vehicle is provided with a laser radar for sensing surrounding environment information in real time and a camera for detecting suspicious target of the surrounding environment in real time, and each unmanned aerial vehicle is provided with a flight control module for controlling the unmanned aerial vehicle to fly stably and a depth camera for performing aerial remote environment sensing and target detection on the target area.
5. The autonomous unmanned cluster reconnaissance system of claim 4, wherein the management command platform is further provided with an equipment management module, and the equipment management module is configured to display equipment conditions of the plurality of heterogeneous robot units and set a safety electric quantity threshold of the unmanned aerial vehicle in each of the heterogeneous robot units.
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| CN114879557A (en) * | 2022-05-07 | 2022-08-09 | 中国人民解放军东部战区总医院 | Control method, system, equipment and storage medium for unmanned equipment cluster |
| CN115437386A (en) * | 2022-11-03 | 2022-12-06 | 中国人民解放军陆军装甲兵学院 | Unmanned vehicle route planning method based on air-ground information fusion |
| CN115509239A (en) * | 2022-11-19 | 2022-12-23 | 中国人民解放军陆军装甲兵学院 | Unmanned vehicle route planning method based on air-ground information sharing |
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