CN114189517B - Heterogeneous autonomous unmanned cluster unified access management and control system - Google Patents
Heterogeneous autonomous unmanned cluster unified access management and control system Download PDFInfo
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Abstract
A heterogeneous autonomous unmanned cluster unified access control system comprises a system architecture and a communication protocol; in terms of system architecture, the system comprises five main functional modules of an unmanned equipment access management server, a cluster state and instruction information updating server, an audio and video streaming media server, a database and a file storage system; in the aspect of communication protocol, taking data distribution service as data interaction bearing between unmanned equipment and access control system and unmanned equipment; the method has better universality and expandability in the aspects of unmanned equipment access and management and control, and the used implementation method is convenient for cross-platform transplantation, and is particularly suitable for rapid deployment and application in a complex heterogeneous unmanned cluster system.
Description
Technical Field
The invention belongs to the field of unmanned cluster access and control methods formed by unmanned systems (unmanned aerial vehicles, unmanned ships and the like), and particularly relates to an autonomous unmanned cluster unified access control system based on DDS.
Background
With the rapid development of artificial intelligence, robotics, and unmanned systems, the autonomy of unmanned systems is becoming increasingly important. The main difference between autonomous and automated is that in cases where uncertainty is large, both the ability to make decisions based on various information, the ability to adapt to changing conditions, and the ability to learn are different. Thus, autonomous unmanned systems have a degree of self-management and autonomous behavioral capabilities. The unmanned system is widely applied to the military of various countries at present, the autonomy of the unmanned system is improved, so that the unmanned system can independently or semi-independently execute complex tasks, an autonomous unmanned cluster formed by multi-heterogeneous unmanned equipment is bound to appear in the fields of future production life, military operations and the like, the complex tasks are completed by utilizing scale advantages and mutual cooperation, and the working form of the existing unmanned equipment is subverted.
Because the types, parameters and capabilities of platforms in the heterogeneous unmanned cluster are various, the method and the system which can perform unified access management, organization scheduling and command control on various unmanned equipment are the premise of practical working patterns of the novel unmanned system. The method and the system have the characteristics that firstly, a unified and extensible access architecture and a data interaction protocol are provided, and the method and the system can adapt to the requirements of multiple functions such as access interaction, self state reporting, perception information reporting, command control instruction issuing, single point failure perception and the like of various unmanned equipment; secondly, information interaction among equipment can be supported, and autonomous coordination is realized; and thirdly, the system can support the complex upper layer cluster application such as command control, situation analysis and display, and display of perception information (visible light, infrared, glimmer, radar, SAR, millimeter wave radar, laser radar and the like), and lays a foundation for the construction of an autonomous unmanned cluster complete system.
At present, unmanned cluster related research and methods focus on aspects of internal coordination working mechanisms of clusters such as group maneuvering, route finding, formation and the like (201710588516.6, 201810928381.8, 201911242510.9, 202010288234.6 and the like); in the field of access and management control systems, a small number of existing methods are used for carrying out access and management control (201810398417.6, 201810823137.5, 201911061076.4 and the like) on single unmanned equipment or single type unmanned equipment, and do not have the capability of managing and controlling the access of a complex multi-type heterogeneous platform cluster and adapting to the unique access control requirement of the autonomous unmanned equipment; 201911117625.5 is closest to the field of application, but does not provide a solution for the universality and expansibility of interaction data in heterogeneous clusters formed by multi-type unmanned equipment, and has defects in supporting the heterogeneous unmanned clusters.
Disclosure of Invention
In order to overcome the defects, the invention provides a heterogeneous autonomous unmanned cluster unified access management and control system, which comprises a system architecture and a communication protocol; it is characterized in that the method comprises the steps of,
in terms of system architecture, the system comprises five main functional modules of an unmanned equipment access management server, a cluster state and instruction information updating server, an audio and video streaming media server, a database and a file storage system, realizes access and management control of an unmanned cluster through cooperative work among the modules, and opens all data access interfaces and instruction issuing interfaces to an upper-layer instruction control application;
in the aspect of communication protocol, data distribution service is used as data interaction bearing between unmanned equipment and access control system and unmanned equipment, and various interaction flows of equipment access, equipment state and perception data reporting, instruction issuing and inter-equipment communication in the working process of the unmanned system are specified.
The invention has the advantages that:
1. aiming at the problem that unified access and interactive communication cannot be performed due to large differences of diversified unmanned equipment types, functions and parameters, a method and a protocol for information interaction between the unmanned equipment and a background management and control system and between the unmanned equipment are provided;
2. aiming at the problems that the unmanned cluster has complex working environment and large cluster scale, communication interruption, equipment failure and the like are likely to occur, a single-point failure sensing method is provided;
the system architecture and the operation mechanism for complete access and management control are provided, unmanned cluster access and management control are supported, and meanwhile, the system architecture and the operation mechanism have various information collecting capabilities such as audio and video images, multi-type sensor data and equipment command management control capability, and basic support is provided for application in various fields of upper layers. Compared with the prior art, the method has better universality and expandability in the aspects of access and management and control of unmanned equipment, and the used implementation method is convenient for cross-platform transplantation, and is particularly suitable for rapid deployment and application in a complex heterogeneous unmanned cluster system.
Drawings
FIG. 1 is a schematic diagram of a system module;
FIG. 2 is a schematic diagram of a system deployment architecture.
Detailed Description
The invention will be further described with reference to the accompanying drawings, it being understood that the description is only for the purpose of illustrating and explaining the invention, and not for the purpose of limiting the same.
The specific embodiment of the application comprises two design contents of a system architecture and a communication protocol.
The method can be applied to an autonomous unmanned cluster system combining virtual and real, a plurality of chassis are connected, unmanned vehicles with differences are loaded on the unmanned vehicles, a plurality of unmanned vehicles with different loads are connected, and space-ground collaborative task execution work under a complex scene is performed under the condition that task roles adapted to different unmanned equipment are different; and the upper layer of the system is connected with a finger control system based on a digital gemini environment. The application is accessed into a management and control system as a system hub, task targets and cluster enabling control given by upper-layer applications are issued to unmanned clusters, and unmanned equipment autonomously completes various collaborative tasks according to the issued task targets; in the task execution process, the access control system continuously receives the states of the unmanned equipment, performs data fusion, situation analysis and other works, and provides the state and situation results and the real-time acquisition video of the unmanned equipment for the upper-layer application to perform real-time monitoring. The system has downward access and control capabilities of multiple unmanned equipment, particularly autonomous unmanned equipment, and upward capabilities of transmitting battlefield situations, equipment status information and perception information. Unmanned cluster system and autonomous unmanned cluster collaborative decision training system can be constructed based on access control system of the application
The overall architecture of the access control system is as shown in fig. 1, in terms of the system architecture, the access control system comprises five main functional modules of an unmanned equipment access management server, a cluster state and instruction information updating server, an audio/video streaming media server, a database, a file storage system and the like, the access and control of the unmanned clusters are realized through the cooperative work among the modules, and meanwhile, each data access interface and instruction issuing interface are opened to an upper layer instruction control application.
The modules of the system are in a logically separated loose coupling relationship, can be intensively deployed on a server platform according to the controlled unmanned cluster scale, can be deployed in a distributed cluster server, and interact with each other by adopting a general or special network protocol before the modules. The system deployment architecture is shown in figure 2.
The system also comprises an upper layer task process control module, wherein the upper layer task process control module specifically comprises functional modules for information fusion, battlefield maintenance, task progress control and disabling perception processing.
The system can also open various data access interfaces and instruction issuing interfaces to the upper layer application, including equipment state access service interfaces, situation access service interfaces and command receiving service interfaces. In the aspect of an upper application interface, battlefield situation information is transmitted with an upper application through a customized interface module, an upper command is received, and a streaming media access service is provided for the upper application through a streaming media server. And customizing a data format and a communication protocol according to the requirements of users.
In the aspect of audio and video media data transmission, the acquired visual and auditory information is transmitted to a streaming media server of an access system management and control system by unmanned equipment by adopting a streaming media method.
In the aspect of communication protocol, data Distribution Service (DDS) is used as data interaction bearing between unmanned equipment and an access system and between the unmanned equipment, various interaction flows (equipment access, equipment state and perception data reporting, instruction issuing, inter-equipment communication and the like) in the working process of the unmanned system are regulated, and a data organization frame of each interaction flow is defined by using an interface description language, so that the functions of convenient data information interaction, interaction data construction and analysis, cross-platform, equipment incapacity perception, expandability and downward compatibility of a message communication protocol and the like under various network conditions and various cluster scales are realized.
The preferred communication interaction construction mode is as follows:
first, the interaction between unmanned equipment and an access system and the interaction between unmanned systems are supported by means of an underlying communication middleware conforming to the OMG (Object Management Group, object management organization) DDS (Data Distribution Service ) specification. Meanwhile, by means of interface description language or Protobuf (Google Protocol Buffers, a tool library with efficient protocol data exchange format is provided by google, and the tool library is a language-independent, platform-independent and extensible serialization structure data storage and exchange method), main messages and communication data formats thereof in the system interaction process are defined; the messages are divided into public messages or proprietary messages, and public/proprietary topics are subscribed and released for distinguishing; and the message content can be encrypted using a pre-customized encryption scheme.
The message types, functions and contents mainly existing in the communication protocol include:
the upper layer task process control module has the disabling perception processing function, and the system is possibly in disconnection due to the problems of unmanned equipment faults, communication interference, communication faults and the like, and perceives by means of a disabling perception algorithm based on the state report information fed back by the unmanned equipment. The algorithm can be realized by a simple state reporting loss counting mode according to the system requirement, and can also be finished by adopting a complex and reliable algorithm such as state judgment probability. Taking the counting mode as an example, a special heartbeat message can be defined or no-receiving counting can be carried out through periodical status report of unmanned equipment, and when the continuous missing count exceeds a predefined preset, the equipment is considered to be disabled.
The whole system has perfect functions and smooth work, and the construction target is completed. The communication of the application realizes the communication mode between the full IP unmanned equipment and the system based on the DDS and the unmanned equipment, and is different from the self-defined communication protocol and the data link technology based on unicast, multicast and broadcast in the prior art. The incapacitation perception processing function reports the receiving condition by means of state updating, and is different from an independent heartbeat packet and independent communication reachability detection technology in the prior art.
Finally, it should be noted that: the foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof, and although the present invention has been described in detail, it will be apparent to those skilled in the art that modifications may be made to the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A heterogeneous autonomous unmanned cluster unified access control system comprises a system architecture and a communication protocol; it is characterized in that the method comprises the steps of,
in terms of system architecture, the system comprises five main functional modules of an unmanned equipment access management server, a cluster state and instruction information updating server, an audio and video streaming media server, a database and a file storage system, realizes access and management control of an unmanned cluster through cooperative work among the modules, and opens all data access interfaces and instruction issuing interfaces to an upper-layer instruction control application; the communication protocol supports interaction between unmanned equipment and an access control system and interaction between unmanned systems by means of a bottom communication middleware conforming to OMGDDS specifications;
in the aspect of communication protocol, taking data distribution service as data interaction bearing between unmanned equipment and an access management and control system and between unmanned equipment, and prescribing equipment access, equipment state and perception data reporting, instruction issuing and all interaction flows of inter-equipment communication in the working process of the unmanned system; wherein,
the message types, functions, transmission directions and message contents existing in the communication protocol are as follows:
the access request is sent to the access control system after the unmanned equipment is started, and the unmanned equipment is connected to the access control system, and the global unique ID and authentication information are obtained;
the access response, the access control system confirms or refuses the unmanned assembly access system which sends the access request to carry out subsequent work, and the access control system accesses to unmanned equipment, and confirms, configures and temporarily identifies in the task;
the command update is carried out, the access control system periodically issues a new working state command to the unmanned equipment which has completed the access flow, and the access control system is connected to the unmanned equipment, the working state and the task execution parameters;
after receiving the instruction update information, the unmanned equipment reports the self state and the perception information to the access control system, and the unmanned equipment sends the temporary ID, the self state information and the perception information to the access control system;
the nodes exchange necessary information among unmanned platforms, and unmanned equipment to unmanned equipment, self ID, intermediate data defined by a collaborative decision algorithm, self autonomous decision results and self task information.
2. The heterogeneous autonomous unmanned cluster unified access control system of claim 1, wherein the main messages and their communication data formats in the system interaction process are defined by means of interface description language or protobuf.
3. The heterogeneous autonomous unmanned cluster unified access control system of claim 1, wherein messages are classified as public messages or proprietary messages, and are distinguished by virtue of publish-subscribe public/proprietary topics; and the message content is encrypted by using a pre-customized encryption mode.
4. The heterogeneous autonomous unmanned cluster unified access control system of claim 1, further comprising an upper layer task execution process control module, wherein the upper layer task execution process control module specifically comprises functional modules for information fusion, battlefield maintenance, task progress control and disabling perception processing.
5. The heterogeneous autonomous unmanned cluster unified access control system of claim 1, wherein the system is further capable of opening data access interfaces and command issuing interfaces to upper layer applications, including equipment state access service interfaces, situation access service interfaces, command receiving service interfaces.
6. The heterogeneous autonomous unmanned cluster unified access control system of claim 1, wherein in terms of audio and video media data transmission, the unmanned equipment transmits the acquired visual and auditory information to a streaming media server of the access system control system by adopting a streaming media method.
7. The heterogeneous autonomous unmanned cluster unified access control system of claim 4, wherein the upper layer task execution process control module has a disabling perception processing function, and perceives by means of a disabling perception algorithm based on status report messages fed back by the statistical unmanned equipment.
8. The heterogeneous autonomous unmanned cluster unified access control system according to claim 7, wherein the disabling perception algorithm is implemented by a simple state reporting loss counting mode or by a state judgment probability algorithm according to system requirements.
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