CN115826478A - Unmanned aerial vehicle cluster command control system and control method - Google Patents
Unmanned aerial vehicle cluster command control system and control method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle cluster command control system and a control method thereof, wherein the system comprises 1 group of emission monitoring seats, 2 groups of or more than cluster comprehensive monitoring seats, 1 group of networking link monitoring seats, three networks, an emission control link, a networking link ground terminal and a networking link airborne terminal; the three networks comprise a transmitting communication network, a cluster integrated monitoring network and an external interaction network. The cluster unmanned aerial vehicle emission monitoring and cluster monitoring are integrated into a command control system, so that the problem that information cannot be transmitted through a networking data chain of the unmanned aerial vehicle due to the fact that the inside of an emission unit is shielded is solved; meanwhile, according to the characteristics of flexibility, changeability and combined use of the cluster unmanned aerial vehicle, more than 2 cluster comprehensive monitoring seats are adopted for cluster monitoring, and the stability and safety of control right handover of the cluster unmanned aerial vehicle can be ensured.
Description
Technical Field
The invention relates to the technical field of cluster unmanned aerial vehicles, in particular to an unmanned aerial vehicle cluster command control system and a control method.
Background
With the rapid development of the cluster unmanned aerial vehicle technology, the application of the cluster unmanned aerial vehicle in the mission is widely concerned and researched. The cluster unmanned aerial vehicle develops rapidly towards the directions of flexible deployment and flexible use. Ground launch of clustered drones is widely used as the primary mode of locomotion.
The cluster unmanned aerial vehicle loads in the transmitting unit before the transmission, because the transmitting unit is densely arranged and has produced and sheltered from and the position problem to unmanned aerial vehicle network deployment signal transmission, lead to partial unmanned aerial vehicle's network deployment link signal can't transmit out, has brought inconvenience for cluster unmanned aerial vehicle condition monitoring before the transmission.
Meanwhile, in a command control system of the cluster unmanned aerial vehicle, a centralized control mode is generally adopted, namely, one control seat controls all the cluster unmanned aerial vehicles, and the control mode cannot meet the change requirement of the cluster unmanned aerial vehicle in future tasks. In the process of executing certain tasks, the cluster unmanned aerial vehicle needs to perform various dynamic grouping allocations under the condition of manual assistance so as to adapt to different task requirements. How to ensure the safe and efficient control right distribution under the condition of ground artificial auxiliary control of the cluster unmanned aerial vehicle, and more flexibly completing cooperative control is a key point to be researched and broken through.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle cluster command control system and a control method, so as to solve the existing problems.
The invention provides an unmanned aerial vehicle cluster command control system, which comprises 1 group of emission monitoring seats, 2 groups of or more than 2 groups of cluster comprehensive monitoring seats, 1 group of networking link monitoring seats, three networks, an emission control link, a networking link ground terminal and a networking link airborne terminal; the three networks comprise a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network;
the transmitting monitoring seats, the cluster comprehensive monitoring seats and the networking link monitoring seats are all linked with the three networks;
the emission monitoring seats are operated with emission monitoring software and are linked with a plurality of emission units through emission control links; the transmitting unit is used for loading and transmitting the cluster unmanned aerial vehicle;
the cluster comprehensive monitoring seat runs cluster comprehensive monitoring software, and is connected with a plurality of transmitting units through a transmitting control link on one hand, and is connected to a networking link airborne terminal loaded on a cluster unmanned aerial vehicle through a networking link ground terminal and a networking link on the other hand;
the networking link monitoring seat runs with networking link monitoring software, and is linked with a plurality of transmitting units through a transmitting control link on one hand, and is linked to a networking link airborne terminal loaded on the cluster unmanned aerial vehicle through a networking link ground terminal and a networking link on the other hand; and the networking link monitoring seat is also operated with data forwarding software and is connected with a user terminal through an external interactive network.
Further, the control method adopting the unmanned aerial vehicle cluster command and control system comprises the following steps:
the launching monitoring seats run launching monitoring software, and the state monitoring and control of the launching units and the state monitoring of the clustered unmanned aerial vehicles in the launching units are realized through the launching control links;
running cluster comprehensive monitoring software in the cluster comprehensive monitoring seat, and realizing the uploading of the task planning of the cluster unmanned aerial vehicle in the transmitting unit, the information monitoring of the cluster unmanned aerial vehicle and the instruction control of the cluster unmanned aerial vehicle through a transmitting control link; the cluster unmanned aerial vehicle is controlled through the networking link ground terminal, the state monitoring of the aerial cluster unmanned aerial vehicle is realized, and the transmission of a single machine control instruction, a cluster control instruction, a single machine task planning instruction and a cluster task planning instruction of the aerial cluster unmanned aerial vehicle is completed; wherein, 2 or more than 2 cluster integrated monitoring seats are provided with priorities and work according to the priorities;
networking link monitoring software is operated in the networking link monitoring seats, so that on one hand, state monitoring and control of the emission control link and the networking link ground terminal are realized, and on the other hand, state monitoring and control of the networking link airborne terminals loaded on the cluster unmanned aerial vehicles and the aerial cluster unmanned aerial vehicles in all emission units are completed through the networking link; and on the other hand, data forwarding software is operated, and the cluster unmanned aerial vehicle information is forwarded to the outside through an external interactive network.
Further, in the state monitoring and control of the transmitting unit and the state monitoring of the clustered drones in the transmitting unit, which are realized through the transmitting control link, the transmitting control link may transmit:
a launch unit instruction and launch unit information; the transmitting unit instruction comprises a transmitting instruction, a termination instruction and a pause instruction;
and the cluster unmanned aerial vehicle instruction and the cluster unmanned aerial vehicle information in the transmitting unit.
Further, during the state monitoring and control of the networked link airborne terminals loaded on the cluster unmanned aerial vehicles and the aerial cluster unmanned aerial vehicles in all the transmitting units through the networked link, the networked link can transmit commands of the cluster unmanned aerial vehicles and information of the cluster unmanned aerial vehicles.
Further, the cluster unmanned aerial vehicle instruction comprises a single machine control instruction, a cluster control instruction, a single machine task planning and a cluster task planning; the cluster unmanned aerial vehicle information comprises unmanned aerial vehicle numbers, unmanned aerial vehicle stand-alone state information, unmanned aerial vehicle cluster state information and unmanned aerial vehicle load information.
Furthermore, the cluster comprehensive monitoring software can dynamically display the accessed unmanned aerial vehicle information according to the accessed unmanned aerial vehicle number and dynamically generate a corresponding control interface.
Further, the priority of the cluster comprehensive monitoring seat is set as follows:
the cluster integrated monitoring seats are sequentially configured according to the serial number sequence, and the priority of the cluster integrated monitoring seats is sequentially arranged according to the serial number from small to large.
Further, the transmission and operation modes of the single machine control instruction and the single machine task planning instruction are as follows:
the cluster integrated monitoring seat sends a stand-alone control instruction or a stand-alone task planning instruction, the instruction information of the stand-alone control instruction and the stand-alone task planning instruction contains the number of the controlled unmanned aerial vehicle, the cluster unmanned aerial vehicle receives the stand-alone control instruction or the stand-alone task planning instruction, judges whether the command is the stand-alone control instruction or the stand-alone task planning instruction and is consistent with the serial number of the unmanned aerial vehicle, and responds to the stand-alone control instruction or the stand-alone task planning instruction if the command is the stand-alone control instruction or the stand-alone task planning instruction and is consistent with the serial number of the unmanned aerial vehicle.
Further, the transmission and operation modes of the cluster control instruction and the cluster mission planning instruction are as follows:
the cluster integrated monitoring seat sends a cluster control instruction and a cluster task planning instruction, the command information of the cluster control instruction and the cluster task planning instruction is provided with a formation number, the cluster unmanned aerial vehicle receives the cluster control instruction or the cluster task planning instruction, judges whether the cluster control instruction or the cluster task planning instruction is the cluster control instruction or the cluster task planning instruction and is consistent with the formation number of the unmanned aerial vehicle, and responds to the cluster control instruction or the cluster task planning instruction if the cluster control instruction or the cluster task planning instruction is the cluster control instruction or the cluster task planning instruction and is consistent with the formation number of the unmanned aerial vehicle.
Further, in the stand-alone control instruction, the stand-alone task planning instruction, the cluster control instruction and the cluster task planning instruction, the control scheduling mode of the cluster unmanned aerial vehicle is set according to the priority of the cluster comprehensive monitoring seat, and the control scheduling mode comprises the steps of obtaining the centralized control right, assigning the control right, applying the control right, authorizing the control right, switching the control right, recovering the control right and automatically switching the control right.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, after the transmitting units are densely deployed, the unmanned aerial vehicles of the unit part cannot transmit data to the command control system through the networking link due to the deployment mode of the transmitting units, and the transmitting control link is adopted to transmit the instructions of the cluster unmanned aerial vehicles and the information of the cluster unmanned aerial vehicles. And normal communication between the cluster unmanned aerial vehicle and the command control system in the transmitting unit is ensured.
2. The invention designs a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network, wherein three networks are physically isolated, and each seat is linked with the three networks, so that functional hot backup can be realized. Meanwhile, the transmission monitoring information, the cluster monitoring information and the external interaction information are prevented from mutual crosstalk, and the interaction safety of cluster transmission and cluster monitoring is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle cluster command control system in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
Examples
As shown in fig. 1, this embodiment provides an unmanned aerial vehicle cluster command control system, which includes 1 group of emission monitoring seats, 2 groups or more of cluster comprehensive monitoring seats, 1 group of networking link monitoring seats, three networks, an emission control link, a networking link ground terminal, and a networking link airborne terminal; the three networks comprise a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network;
the transmitting monitoring seats, the cluster comprehensive monitoring seats and the networking link monitoring seats are all linked with the three networks;
the emission monitoring seats are operated with emission monitoring software and are linked with a plurality of emission units through emission control links; the transmitting unit is used for loading and transmitting the cluster unmanned aerial vehicle;
the cluster comprehensive monitoring seat runs cluster comprehensive monitoring software, and is connected with a plurality of transmitting units through a transmitting control link on one hand, and is connected to a networking link airborne terminal loaded on a cluster unmanned aerial vehicle through a networking link ground terminal and a networking link on the other hand;
the networking link monitoring seat runs networking link monitoring software, and is connected with a plurality of transmitting units through a transmitting control link on one hand, and is connected to a networking link airborne terminal loaded on the cluster unmanned aerial vehicle through a networking link ground terminal and a networking link on the other hand; the networking link monitoring seat is also operated with data forwarding software and is connected with a user terminal through an external interactive network.
According to the working principle of the unmanned aerial vehicle cluster command control system, an unmanned aerial vehicle cluster command control method can be obtained, and the method comprises the following steps:
s1, operating emission monitoring software in an emission monitoring seat, and realizing state monitoring and control of an emission unit and state monitoring of a cluster unmanned aerial vehicle in the emission unit through an emission control link; wherein the transmission control link would transmit: the command and the information of the transmitting unit, and the command and the information of the cluster unmanned aerial vehicle in the transmitting unit; the transmitting unit instruction comprises a transmitting instruction, a termination instruction and a pause instruction;
s2, running cluster comprehensive monitoring software in the cluster comprehensive monitoring seat, and realizing task planning uploading, information monitoring and instruction control of the cluster unmanned aerial vehicle in the transmitting unit through a transmitting control link; the cluster unmanned aerial vehicle is controlled through the networking link ground terminal, the state monitoring of the aerial cluster unmanned aerial vehicle is realized, and the transmission of a single-machine control instruction, a cluster control instruction, a single-machine task planning instruction and a cluster task planning instruction of the aerial cluster unmanned aerial vehicle is completed; in this embodiment, the cluster integrated monitoring software can dynamically display the accessed information of the unmanned aerial vehicle according to the number of the accessed unmanned aerial vehicle, and dynamically generate a corresponding control interface. Further, 2 or more cluster integrated monitoring seats are provided with priorities and work according to the priorities, specifically: the cluster comprehensive monitoring seats are sequentially configured according to the serial number sequence, and the priorities of the cluster comprehensive monitoring seats are sequentially arranged according to the serial number from small to large;
the networking link can transmit the instructions of the cluster unmanned aerial vehicle and the information of the cluster unmanned aerial vehicle during the state monitoring and control of the cluster unmanned aerial vehicle in all the transmitting units and the networking link airborne terminals loaded on the cluster unmanned aerial vehicle; wherein:
the cluster unmanned aerial vehicle instruction comprises a single machine control instruction, a cluster control instruction, a single machine task plan and a cluster task plan;
the cluster unmanned aerial vehicle information comprises unmanned aerial vehicle serial numbers, unmanned aerial vehicle single-machine state information, unmanned aerial vehicle cluster state information and unmanned aerial vehicle load information.
S3, running networking link monitoring software in the networking link monitoring seats, on one hand, realizing state monitoring and control on the emission control links and the networking link ground terminals, and completing state monitoring and control on all the networking link airborne terminals loaded on the cluster unmanned aerial vehicles and the aerial cluster unmanned aerial vehicles in the emission units through the networking links; and on the other hand, data forwarding software is operated, and the cluster unmanned aerial vehicle information is forwarded to the outside through an external interactive network.
Further, the transmission and operation modes of the single machine control instruction, the single machine task planning instruction, the cluster control instruction and the cluster task planning instruction are as follows:
stand-alone control instructions and stand-alone task planning instructions: the cluster integrated monitoring seat sends a stand-alone control instruction or a stand-alone task planning instruction, the instruction information of the stand-alone control instruction and the stand-alone task planning instruction contains the number of the controlled unmanned aerial vehicle, the cluster unmanned aerial vehicle receives the stand-alone control instruction or the stand-alone task planning instruction, judges whether the command is the stand-alone control instruction or the stand-alone task planning instruction and is consistent with the serial number of the unmanned aerial vehicle, and responds to the stand-alone control instruction or the stand-alone task planning instruction if the command is the stand-alone control instruction or the stand-alone task planning instruction and is consistent with the serial number of the unmanned aerial vehicle.
Cluster control instructions and cluster task planning instructions: the cluster integrated monitoring seat sends a cluster control instruction and a cluster task planning instruction, the command information of the cluster control instruction and the cluster task planning instruction is provided with a formation number, the cluster unmanned aerial vehicle receives the cluster control instruction or the cluster task planning instruction, judges whether the cluster control instruction or the cluster task planning instruction is the cluster control instruction or the cluster task planning instruction and is consistent with the formation number of the unmanned aerial vehicle, and responds to the cluster control instruction or the cluster task planning instruction if the cluster control instruction or the cluster task planning instruction is the cluster control instruction or the cluster task planning instruction and is consistent with the formation number of the unmanned aerial vehicle.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle cluster command control system is characterized by comprising 1 group of emission monitoring seats, 2 groups of or more than 2 groups of cluster comprehensive monitoring seats, 1 group of networking link monitoring seats, three networks, an emission control link, a networking link ground terminal and a networking link airborne terminal; the three networks comprise a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network;
the transmitting monitoring seats, the cluster comprehensive monitoring seats and the networking link monitoring seats are all linked with the three networks;
the emission monitoring seats are operated with emission monitoring software and are linked with a plurality of emission units through emission control links; the transmitting unit is used for loading and transmitting the cluster unmanned aerial vehicle;
the cluster comprehensive monitoring seat runs cluster comprehensive monitoring software, and is connected with a plurality of transmitting units through a transmitting control link on one hand, and is connected to a networking link airborne terminal loaded on a cluster unmanned aerial vehicle through a networking link ground terminal and a networking link on the other hand;
the networking link monitoring seat runs networking link monitoring software, and is connected with a plurality of transmitting units through a transmitting control link on one hand, and is connected to a networking link airborne terminal loaded on the cluster unmanned aerial vehicle through a networking link ground terminal and a networking link on the other hand; the networking link monitoring seat is also operated with data forwarding software and is connected with a user terminal through an external interactive network.
2. A control method of the drone cluster command and control system using the drone cluster command and control system of claim 1, comprising:
the launching monitoring seats run launching monitoring software, and the state monitoring and control of the launching units and the state monitoring of the clustered unmanned aerial vehicles in the launching units are realized through the launching control links;
running cluster comprehensive monitoring software in the cluster comprehensive monitoring seat, and realizing the uploading of the task planning of the cluster unmanned aerial vehicle in the transmitting unit, the information monitoring of the cluster unmanned aerial vehicle and the instruction control of the cluster unmanned aerial vehicle through a transmitting control link; the cluster unmanned aerial vehicle is controlled through the networking link ground terminal, the state monitoring of the aerial cluster unmanned aerial vehicle is realized, and the transmission of a single-machine control instruction, a cluster control instruction, a single-machine task planning instruction and a cluster task planning instruction of the aerial cluster unmanned aerial vehicle is completed; wherein, 2 or more than 2 cluster integrated monitoring seats are provided with priorities and work according to the priorities;
networking link monitoring software is operated in the networking link monitoring seats, so that on one hand, the state monitoring and control of the emission control link and the networking link ground terminals are realized, and on the other hand, the state monitoring and control of networking link airborne terminals loaded on the cluster unmanned aerial vehicles and the aerial cluster unmanned aerial vehicles in all the emission units are completed through the networking links; and on the other hand, data forwarding software is operated, and the cluster unmanned aerial vehicle information is forwarded to the outside through an external interactive network.
3. The method according to claim 2, wherein the transmitting control link is used for transmitting the following information in the monitoring and controlling of the state of the transmitting unit and the monitoring of the state of the cluster drone in the transmitting unit, wherein the transmitting control link transmits:
a transmitting unit instruction and transmitting unit information; the transmitting unit instruction comprises a transmitting instruction, a termination instruction and a pause instruction;
and the cluster unmanned aerial vehicle instruction and the cluster unmanned aerial vehicle information in the transmitting unit.
4. The control method of the unmanned aerial vehicle cluster command and control system according to claim 3, wherein the networking link transmits the cluster unmanned aerial vehicle command and the cluster unmanned aerial vehicle information during the state monitoring and control of the cluster unmanned aerial vehicles in all the transmitting units and the networking link airborne terminals loaded on the aerial cluster unmanned aerial vehicles.
5. The control method of the unmanned aerial vehicle cluster command and control system of claim 4, wherein the cluster unmanned aerial vehicle command comprises a stand-alone control command, a cluster control command, a stand-alone mission plan, and a cluster mission plan; the cluster unmanned aerial vehicle information comprises unmanned aerial vehicle numbers, unmanned aerial vehicle stand-alone state information, unmanned aerial vehicle cluster state information and unmanned aerial vehicle load information.
6. The control method of the unmanned aerial vehicle cluster command and control system according to claim 2, wherein the cluster integrated monitoring software is capable of dynamically displaying the information of the accessed unmanned aerial vehicle according to the number of the accessed unmanned aerial vehicle and dynamically generating a corresponding control interface.
7. The control method of the unmanned aerial vehicle cluster command and control system of claim 2, wherein the priority of the cluster integrated monitoring seats is set as follows:
the cluster integrated monitoring seats are sequentially configured according to the serial number sequence, and the priority of the cluster integrated monitoring seats is sequentially arranged according to the serial number from small to large.
8. The control method of the unmanned aerial vehicle cluster command and control system of claim 7, wherein the transmission and operation modes of the stand-alone control command and the stand-alone mission planning command are as follows:
the cluster integrated monitoring seat sends a single machine control instruction or a single machine task planning instruction, the instruction information of the single machine control instruction and the single machine task planning instruction contains the number of the controlled unmanned aerial vehicle, the cluster unmanned aerial vehicle receives the single machine control instruction or the single machine task planning instruction, judges whether the command is the single machine control instruction or the single machine task planning instruction and is consistent with the serial number of the unmanned aerial vehicle, and responds to the single machine control instruction or the single machine task planning instruction if the command is the single machine control instruction or the single machine task planning instruction and is consistent with the serial number of the unmanned aerial vehicle.
9. The control method of the unmanned aerial vehicle cluster command and control system of claim 8, wherein the transmission and operation modes of the cluster control command and the cluster mission planning command are as follows:
the cluster integrated monitoring seat sends a cluster control instruction and a cluster task planning instruction, the command information of the cluster control instruction and the cluster task planning instruction is provided with a formation number, the cluster unmanned aerial vehicle receives the cluster control instruction or the cluster task planning instruction, judges whether the cluster control instruction or the cluster task planning instruction is the cluster control instruction or the cluster task planning instruction and is consistent with the formation number of the unmanned aerial vehicle, and responds to the cluster control instruction or the cluster task planning instruction if the cluster control instruction or the cluster task planning instruction is the cluster control instruction or the cluster task planning instruction and is consistent with the formation number of the unmanned aerial vehicle.
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| CN115694616A (en) * | 2023-01-04 | 2023-02-03 | 四川腾盾科技有限公司 | Unmanned aerial vehicle cluster launching control system and launching method |
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| CN116933980A (en) * | 2023-09-15 | 2023-10-24 | 四川腾盾科技有限公司 | Unmanned aerial vehicle cluster command control scheduling method |
| CN116933980B (en) * | 2023-09-15 | 2024-01-23 | 四川腾盾科技有限公司 | Unmanned aerial vehicle cluster command control scheduling method |
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