CN114879557A - Control method, system, equipment and storage medium for unmanned equipment cluster - Google Patents
Control method, system, equipment and storage medium for unmanned equipment cluster Download PDFInfo
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- CN114879557A CN114879557A CN202210490814.2A CN202210490814A CN114879557A CN 114879557 A CN114879557 A CN 114879557A CN 202210490814 A CN202210490814 A CN 202210490814A CN 114879557 A CN114879557 A CN 114879557A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The embodiment of the application provides a control method, a system, equipment and a storage medium for an unmanned equipment cluster, wherein the method comprises the following steps: acquiring unmanned equipment information in real time; transmitting the acquired unmanned equipment information to a terminal; receiving a control instruction sent by the terminal; and sending the control instruction to the unmanned equipment. According to the embodiment of the application, the multiple unmanned devices are independent from each other, interaction between the multiple unmanned devices is completed by the control instruction generated by the device information acquired by the terminal, and the multiple unmanned devices can be remotely controlled through one terminal, so that digital management is realized.
Description
Technical Field
Embodiments of the present application relate to the field of unmanned device technologies, and in particular, to a method, a system, a device, and a storage medium for controlling an unmanned equipment cluster.
Background
With the rapid development of artificial intelligence, robotics, and unmanned devices, the autonomy of unmanned devices is becoming increasingly important. The main difference between autonomy and automation is that under the condition of great uncertainty, the decision making capability of the two devices based on various information, the self-adaptive capability to the changing condition and the learning capability are different. Thus, the autonomous unmanned device has a certain degree of self-management and autonomous behavior capabilities. The current unmanned equipment is widely applied to military in various countries, and the autonomy of the unmanned equipment is improved, so that the unmanned equipment can independently or semi-independently execute complex tasks, autonomous unmanned clusters formed by heterogeneous unmanned equipment are bound to appear in the fields of future production life, military operation 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 overturned.
Because the platform type, the parameter and the capability in the heterogeneous unmanned cluster are various, the method and the system which can carry out unified access management, organization scheduling and command control on diversified unmanned equipment are the premise of the practicability of the working style of the novel unmanned equipment.
The method and the system have the following characteristics that firstly, a uniform and extensible access architecture and a data interaction protocol are provided, and the method and the system can adapt to various functional requirements of various unmanned equipment such as access interaction, self state reporting, perception information reporting, command control instruction issuing, single-point failure perception and the like; secondly, information interaction between equipment can be supported, and autonomous cooperation is realized; and thirdly, complex upper-layer cluster applications such as command control, situation analysis and display, perception information (visible light, infrared, dim light, radar, SAR, millimeter wave radar, laser radar and the like) display and the like can be supported, and a foundation is laid for the construction of an autonomous unmanned cluster complete system.
At present, the development of unmanned equipment is in a starting stage, no reliable integrated platform exists on the market, and the unmanned equipment is independent from each other, so that the improvement is urgently needed.
Disclosure of Invention
An object of the embodiment of the application is to provide a control method, system, device and storage medium for an unmanned equipment cluster, which are used for acquiring unmanned equipment information in real time through an ad hoc network radio station, transmitting the acquired unmanned equipment information to a terminal, receiving a control instruction sent by the terminal, sending the control instruction to the unmanned equipment, realizing digital management by realizing remote control of multiple unmanned equipment through one terminal, and solving the problems in the background art.
In order to solve the above technical problem, a technical scheme of a control method, a control system, a control device, and a storage medium for an unmanned aerial vehicle cluster provided in an embodiment of the present application is as follows:
in a first aspect, an embodiment of the present application discloses a method for controlling an unmanned equipment cluster, where the method includes the following steps:
acquiring unmanned equipment information in real time;
transmitting the acquired unmanned equipment information to a terminal;
receiving a control instruction sent by the terminal;
and sending the control instruction to the unmanned equipment.
In an embodiment of any of the foregoing schemes, the acquiring information of the unmanned aerial vehicle in real time specifically includes:
the pod carried by the unmanned equipment, the image transmitted back by the camera on the unmanned equipment and the target position of the unmanned equipment.
In an embodiment of any of the foregoing schemes, the target position of the unmanned aerial vehicle specifically includes:
the unmanned equipment acquires the geographic position through a sensor;
according to the obtained geographic position output data, establishing a map coordinate;
and confirming the corresponding position of the unmanned equipment in the map according to the established map coordinates.
Compared with the prior art, the control method of the unmanned equipment cluster obtains the unmanned equipment information in real time through the ad hoc network radio station, transmits the obtained unmanned equipment information to the terminal, receives the control instruction sent by the terminal, sends the control instruction to the unmanned equipment, can realize remote control of multiple unmanned equipment through one terminal, and realizes digital management.
In a second aspect, a method of controlling a cluster of unmanned equipment, the method comprising the steps of:
receiving unmanned equipment information in real time;
sending the received unmanned equipment information to an ad hoc network radio station and a terminal;
receiving a control instruction issued by the terminal;
and analyzing the control instruction and then sending the control instruction to the unmanned equipment.
In a preferred embodiment of any of the above schemes, the unmanned device is an unmanned aerial vehicle and an unmanned vehicle.
In an embodiment of any of the foregoing schemes, the control instruction specifically includes:
planning the driving track of the unmanned vehicle by the terminal on ground data which is scouted in the air and returned by the unmanned aerial vehicle;
the unmanned aerial vehicle draws a map of a patrol area, sends the map to the unmanned vehicle, and after receiving the unmanned aerial vehicle map, the unmanned vehicle combines self position information and target information and calculates an optimal path to the target.
Compared with the prior art, the control method of the unmanned equipment cluster receives the unmanned equipment information in real time through the communication module, sends the received unmanned equipment information to the ad hoc network radio station and the terminal, receives the control command issued by the terminal, sends the control command to the unmanned equipment after being analyzed, the unmanned equipment is mutually independent, the interaction between the unmanned equipment is completed by the control command generated by the equipment information acquired by the terminal, and the remote control of multiple unmanned equipment can be realized through one terminal, so that the digital management is realized.
In a third aspect, a control system for a cluster of unmanned equipment, comprising:
the first acquisition module acquires the information of the unmanned equipment in real time, and the acquisition of the information of the unmanned equipment in real time specifically comprises: the pod carried by the unmanned equipment, the image transmitted back by the camera on the unmanned equipment and the target position of the unmanned equipment; the target position of the unmanned equipment specifically comprises: the unmanned equipment acquires the geographic position through a sensor; according to the obtained geographic position output data, establishing a map coordinate; confirming the corresponding position of the unmanned equipment in the map according to the established map coordinates;
the first sending module is used for transmitting the acquired information of the unmanned equipment to a terminal;
the first receiving module is used for receiving a control instruction sent by the terminal;
and the second sending module is used for sending the control instruction to the unmanned equipment.
The third aspect has the same advantages as the first aspect, and therefore, the description thereof is omitted.
In a fourth aspect, a control system for a cluster of unmanned equipment, comprising:
the second acquisition module is used for receiving information of unmanned equipment in real time, wherein the unmanned equipment is an unmanned aerial vehicle and an unmanned vehicle;
the third sending module is used for sending the received unmanned equipment information to the ad hoc network radio station and the terminal;
a second receiving module, configured to receive a control instruction issued by the terminal, where the control instruction specifically includes: planning the driving track of the unmanned vehicle by the terminal on ground data which is scouted in the air and returned by the unmanned aerial vehicle; the unmanned aerial vehicle draws a map of a patrol area and sends the map to the unmanned vehicle, and after receiving the unmanned aerial vehicle map, the unmanned vehicle plans an optimal path to a target according to an algorithm by combining self position information and target information;
and the fourth sending module is used for sending the control instruction to the unmanned equipment after the control instruction is analyzed.
The beneficial effects of the fourth aspect are the same as those of the second aspect, and therefore, the description thereof is omitted.
In a fifth aspect, a control device of a cluster of unmanned equipment, comprises:
a memory for storing a computer program;
a processor for implementing the steps of the control method of the unmanned equipment cluster when executing the computer program.
The fifth aspect has the same advantages as the first and second aspects, and therefore, the description thereof is omitted.
A sixth aspect is a storage medium having stored thereon a computer program which, when being executed by a processor, realizes a method of controlling a cluster of unmanned equipment as described.
The sixth aspect has the same advantages as the first and second aspects, and therefore, the description thereof is omitted.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or components, and it will be understood by those skilled in the art that the drawings are not necessarily drawn to scale, and wherein:
fig. 1 is a flowchart illustrating a control method for an unmanned aerial vehicle cluster according to an embodiment of the present disclosure.
Fig. 2 is another schematic flow chart of a control method of an unmanned aerial vehicle cluster according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a control system of an unmanned aerial vehicle cluster according to an embodiment of the present application.
Fig. 4 is another schematic diagram of a control system of an unmanned aerial vehicle cluster according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a control device of an unmanned aerial vehicle cluster according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be apparent that the described embodiments are merely one example of a component of the present application and not an all component embodiment. 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 application.
Examples
As shown in fig. 1, an embodiment of the present application provides a control method for an unmanned equipment cluster, where the method includes the following steps:
acquiring unmanned equipment information in real time;
transmitting the acquired unmanned equipment information to a terminal;
receiving a control instruction sent by the terminal;
and sending the control instruction to the unmanned equipment.
In the control method of the unmanned equipment cluster in the embodiment of the invention, the unmanned equipment information is acquired in real time through the ad hoc network radio station, the acquired unmanned equipment information is transmitted to the terminal, the control instruction sent by the terminal is received, and the control instruction is sent to the unmanned equipment.
In the method for controlling an unmanned aerial vehicle cluster according to the embodiment of the present invention, the obtaining information of the unmanned aerial vehicle in real time specifically includes:
a pod carried by the unmanned equipment, an image transmitted back by a camera on the unmanned equipment and a target position of the unmanned equipment; the target position of the unmanned equipment specifically comprises:
the unmanned equipment acquires the geographic position through a sensor;
according to the obtained geographic position output data, establishing a map coordinate;
and confirming the corresponding position of the unmanned equipment in the map according to the established map coordinates.
In the control method of the unmanned equipment cluster, the unmanned equipment is accessed to an ad hoc network radio station, the network is managed in a unified manner, data are transmitted through the UCU communication module, the unmanned equipment are mutually independent, interaction between the unmanned equipment is completed by a control instruction generated by equipment information acquired by a terminal, and obstacle avoidance is performed according to images transmitted by a pod and a camera carried by the unmanned equipment. The unmanned equipment builds a map according to output data of a sensor (a camera, a laser radar and the like) carrying the unmanned equipment, confirms the corresponding position of the unmanned equipment in the map, and plans an optimal path reaching a target according to an algorithm on the basis of obtaining a local map, the position of the unmanned equipment and the position of the target.
Compared with the prior art, the control method of the unmanned equipment cluster obtains the unmanned equipment information in real time through the ad hoc network radio station, transmits the obtained unmanned equipment information to the terminal, receives the control instruction sent by the terminal, sends the control instruction to the unmanned equipment, can realize remote control of multiple unmanned equipment through one terminal, and realizes digital management.
As shown in fig. 2, in a second aspect, a method of controlling a cluster of unmanned equipment, the method comprising the steps of:
receiving unmanned equipment information in real time;
sending the received unmanned equipment information to an ad hoc network radio station and a terminal;
receiving a control instruction issued by the terminal;
and analyzing the control instruction and then sending the control instruction to the unmanned equipment.
In the control method of the unmanned equipment cluster in the embodiment of the invention, the communication module receives the unmanned equipment information in real time, the received unmanned equipment information is sent to the ad hoc network radio station and the terminal, the control instruction sent by the terminal is received, the control instruction is analyzed and then sent to the unmanned equipment, the unmanned equipment are mutually independent, the interaction is completed by the control instruction generated by the equipment information acquired by the terminal, the remote control of multiple unmanned equipment can be realized by one terminal, and the digital management is realized.
In the control method of the unmanned aerial vehicle cluster according to the embodiment of the present invention, the unmanned aerial vehicle is an unmanned aerial vehicle and an unmanned vehicle, and the control instruction specifically includes:
planning the driving track of the unmanned vehicle by the terminal on ground data which is scouted in the air and returned by the unmanned aerial vehicle;
the unmanned aerial vehicle draws a map of a patrol area and sends the map to the unmanned vehicle, and after receiving the unmanned aerial vehicle map, the unmanned vehicle plans an optimal path to the target according to an algorithm by combining self position information and target information.
Compared with the prior art, the control method of the unmanned equipment cluster receives the unmanned equipment information in real time through the communication module, sends the received unmanned equipment information to the ad hoc network radio station and the terminal, receives the control command issued by the terminal, sends the control command to the unmanned equipment after being analyzed, the unmanned equipment is mutually independent, the interaction between the unmanned equipment is completed by the control command generated by the equipment information acquired by the terminal, and the remote control of multiple unmanned equipment can be realized through one terminal, so that the digital management is realized.
As shown in fig. 3, in a third aspect, a control system of a cluster of unmanned equipment includes:
the first acquisition module acquires the information of the unmanned equipment in real time, and the acquisition of the information of the unmanned equipment in real time specifically comprises: a pod carried by the unmanned equipment, an image transmitted back by a camera on the unmanned equipment and a target position of the unmanned equipment; the target position of the unmanned equipment specifically comprises: the unmanned equipment acquires the geographic position through a sensor; according to the obtained geographic position output data, establishing a map coordinate; confirming the corresponding position of the unmanned equipment in the map according to the established map coordinates;
the first sending module is used for transmitting the acquired information of the unmanned equipment to a terminal;
the first receiving module is used for receiving a control instruction sent by the terminal;
and the second sending module is used for sending the control instruction to the unmanned equipment.
The third aspect has the same advantages as the first aspect, and therefore, the description thereof is omitted.
As shown in fig. 4, in a fourth aspect, a control system of a cluster of unmanned equipment includes:
the second acquisition module is used for receiving information of unmanned equipment in real time, wherein the unmanned equipment is an unmanned aerial vehicle and an unmanned vehicle;
the third sending module is used for sending the received unmanned equipment information to the ad hoc network radio station and the terminal;
a second receiving module, configured to receive a control instruction issued by the terminal, where the control instruction specifically includes: planning the driving track of the unmanned vehicle by the terminal on ground data which is scouted in the air and returned by the unmanned aerial vehicle; the unmanned aerial vehicle draws a map of a patrol area and sends the map to the unmanned vehicle, and after receiving the unmanned aerial vehicle map, the unmanned vehicle plans an optimal path to a target according to an algorithm by combining self position information and target information;
and the fourth sending module is used for sending the control instruction to the unmanned equipment after the control instruction is analyzed.
The beneficial effects of the fourth aspect are the same as those of the second aspect, and therefore, the description thereof is omitted.
As shown in fig. 5, a fifth aspect, a control device of an unmanned equipment cluster, includes:
a memory for storing a computer program;
a processor for implementing the steps of the control method of the unmanned equipment cluster as described when executing the computer program.
Wherein, the processor is used for controlling the overall operation of the measuring device so as to complete all or part of the steps in the control method of the unmanned equipment cluster. The memory is used to store various types of data to support operation at the measuring device, which may include, for example, instructions for any application or method operating on the measuring device, as well as application-related data, such as contact data, messaging, pictures, audio, video, and so forth. The memory may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable Read-only memory (EEPROM), erasable programmable Read-only memory (EPROM), programmable Read-only memory (PROM), Read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. The multimedia components may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving an external audio signal. The received audio signal may further be stored in a memory or transmitted through a communication component. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface provides an interface between the processor and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component is used for carrying out wired or wireless communication between the measuring equipment and other equipment. Wireless communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G or 5G, or a combination of one or more of them, so that the corresponding communication component may include: Wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the measurement device may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, for performing the above-described control method of the unmanned equipment cluster.
In another exemplary embodiment, a computer readable storage medium comprising program instructions is also provided, which when executed by a processor, implement the steps of the above-described control method of the unmanned equipment cluster. For example, the computer readable storage medium may be the above-mentioned memory comprising program instructions executable by the processor of the measurement device to perform the above-mentioned control method of the unmanned equipment cluster.
Corresponding to the above method embodiment, the disclosed embodiment further provides a readable storage medium, and a readable storage medium described below and a control method of an unmanned aerial vehicle cluster described above may be referred to correspondingly.
In a sixth aspect, a readable storage medium has stored thereon a computer program which, when executed by a processor, carries out the steps of the method of controlling a cluster of unmanned equipment of the above-described method embodiments.
The readable storage medium may be a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and may store various program codes.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments can be modified, or technical features of components or all components thereof can be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method of controlling a cluster of unmanned equipment, the method comprising the steps of:
acquiring unmanned equipment information in real time;
transmitting the acquired unmanned equipment information to a terminal;
receiving a control instruction sent by the terminal;
and sending the control instruction to the unmanned equipment.
2. The method according to claim 1, wherein the obtaining of the information of the unmanned aerial vehicle in real time specifically includes:
the pod carried by the unmanned equipment, the image transmitted back by the camera on the unmanned equipment and the target position of the unmanned equipment.
3. The method according to claim 2, wherein the target position of the unmanned aerial vehicle specifically includes:
the unmanned equipment acquires the geographic position through a sensor;
according to the obtained geographic position output data, establishing a map coordinate;
and confirming the corresponding position of the unmanned equipment in the map according to the established map coordinates.
4. A method of controlling a cluster of unmanned equipment, the method comprising the steps of:
receiving unmanned equipment information in real time;
sending the received unmanned equipment information to an ad hoc network radio station and a terminal;
receiving a control instruction issued by the terminal;
and analyzing the control instruction and then sending the control instruction to the unmanned equipment.
5. The method of claim 4, wherein the unmanned devices are drones and unmanned vehicles.
6. The method according to claim 5, wherein the control instruction specifically includes:
planning the driving track of the unmanned vehicle by the terminal according to ground data detected by the unmanned vehicle in the air;
the unmanned aerial vehicle draws a map of a patrol area and sends the map to the unmanned vehicle, and after receiving the unmanned aerial vehicle map, the unmanned vehicle combines self position information and target information and calculates an optimal path to the target.
7. A control system for a cluster of unmanned equipment, comprising:
the first acquisition module acquires the information of the unmanned equipment in real time, and the acquisition of the information of the unmanned equipment in real time specifically comprises: a pod carried by the unmanned equipment, an image transmitted back by a camera on the unmanned equipment and a target position of the unmanned equipment; the target position of the unmanned equipment specifically comprises: the unmanned equipment acquires the geographic position through a sensor; according to the obtained geographic position output data, establishing a map coordinate; confirming the corresponding position of the unmanned equipment in the map according to the established map coordinates;
the first sending module is used for transmitting the acquired information of the unmanned equipment to a terminal;
the first receiving module is used for receiving a control instruction sent by the terminal;
and the second sending module is used for sending the control instruction to the unmanned equipment.
8. A control system for a cluster of unmanned equipment, comprising:
the second acquisition module is used for receiving information of unmanned equipment in real time, wherein the unmanned equipment is an unmanned aerial vehicle and an unmanned vehicle;
the third sending module is used for sending the received unmanned equipment information to the ad hoc network radio station and the terminal;
a second receiving module, configured to receive a control instruction issued by the terminal, where the control instruction specifically includes: planning the driving track of the unmanned vehicle by the terminal on ground data which is scouted in the air and returned by the unmanned aerial vehicle; the unmanned aerial vehicle draws a map of a patrol area and sends the map to the unmanned vehicle, and after receiving the unmanned aerial vehicle map, the unmanned vehicle plans an optimal path to a target according to an algorithm by combining self position information and target information;
and the fourth sending module is used for sending the control instruction to the unmanned equipment after the control instruction is analyzed.
9. A control device of an unmanned equipment cluster, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the control method of an unmanned equipment cluster according to any of claims 1 to 6 when executing said computer program.
10. A storage medium, having stored thereon a computer program, characterized in that the program, when being executed by a processor, realizes the control method of an unmanned cluster according to any one of claims 1 to 6.
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| CN214069930U (en) * | 2020-12-25 | 2021-08-27 | 北京航空航天大学合肥创新研究院 | Unmanned ship mooring unmanned aerial vehicle communication system |
| CN114281109A (en) * | 2021-11-12 | 2022-04-05 | 北京特种机械研究所 | Multi-machine cooperation control system guided by unmanned aerial vehicle |
| CN114398455A (en) * | 2021-11-30 | 2022-04-26 | 中国人民解放军火箭军工程大学 | Heterogeneous multi-robot cooperative SLAM map fusion method |
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