RU2538322C1 - Method for information support of robot system - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: at the request of a control station, telemetric information is transmitted from a platform in accordance with a predetermined screen which reduces the amount of transmitted information, or full telemetric information is transmitted: geodesic coordinates of a location, Euler angles of the position of the platform in degree, minutes and seconds, the state of video cameras, channel frequency, encoding type, battery status, power station status, drive status, information about the external environment; the control station transmits control commands to the video cameras, a topographic precise positioning and orientation system, the power station and platform movement devices; a movement control algorithm generates signals for engine braking, completing movement, processing the direction of movement and controlling board reducing gears. The invention also enables the platform to turn due to difference in speed of the platform boards.

EFFECT: high reliability of communication between components of a remote-controlled military robotic system.

2 dwg

Description

The invention relates to remotely controlled combat robotic systems designed to solve the problems of the power structures of the Russian Federation, in particular, to methods for their software and information exchange of data.

A known method of operating a technical installation and a process control system for operating a technical installation (see patent RU 2273874 C2, IPC G05B 19/18, published on April 10, 2006, Bull. No. 10) adopted as a prototype. The invention relates to the field of automatic process control systems. The method according to the invention uses at least one control computer (computer unit) and a number of field devices (peripheral devices), state signals and control signals between at least a part of the field devices and the control computer being transmitted using TPC / IP protocol via a communication channel, preferably radio communication and / or the Internet. The process control system according to the invention comprises a control computer with a Web server, a client computer with an Internet browser, and also a plurality of sensors and positioners; the process control system is preferably served via the Internet through a client computer.

Information is transmitted over wired and wireless communication lines and the formation of packets for data transmission on these lines is carried out in accordance with data transfer protocols.

The disadvantages of the prototype are:

- high configurable system complexity;

- insufficient degree of reliability of the used information-computing system;

- a limited number of implemented algorithms.

The proposed invention solves the problem of increasing the efficiency and reliability of information exchange between the components of a remotely controlled combat robotic complex.

The technical result obtained by the implementation of the invention is to create a method of information support for a robotic complex that provides autonomous orientation (determining the directional angle) within the framework of information exchange protocols, determines its own location coordinates using satellite navigation signals, in odometric navigation mode and in integrated mode, determines the angular position in space, data transmission on a digital radio channel about the state of the complex (to ordinates of the corners), the reception of digital radio commands from the command post, the transmission over the air television signal masked by the three cameras.

The specified technical result is achieved by the fact that in the proposed method of information support of the robotic complex, which includes a computer unit and peripheral devices installed on the control object and interacting with each other via the communication channel by interchange of control and status signals in accordance with the exchange protocol according to the software, new is that robotic software consists of embedded platform software s a robotic complex providing real-time control and navigation tasks, control center software, the target platforms for which are Windows and MSWS (mobile system of the armed forces), the platform software operates at two levels - the level of hardware interface ( drivers) and the application level, built in the form of a hierarchy of scripts of individual subtasks, the platform software implements the algorithms of the following modes platform features: OFF / ON, and waiting for a command (WAITING), operation from the battery, operation from the power station through the battery, execution of control commands, telemetry information is transmitted from the platform at the request of the control point in accordance with the previously installed mask, which reduces volume transmitted information, or telemetric information in full: geodetic coordinates of the location, Euler angles of the platform position in degrees, minutes, seconds, video status Amer, channel frequency, coding type, battery status, power station status, drive status, information about the external environment, control commands are sent from the control point to cameras, a topographic location and orientation system, power station, to platform motion support devices, motion control algorithm implements the formation of accelerator signals to the right and left side, engine braking signals, software signal to complete the movement, development of the direction of movement of the left and right boards, control of the side gears, within the framework of the motion control algorithm, a speed mismatch algorithm has been formed that provides platform rotation due to the difference in the platform sides speed, when the platform moves along a given route, two algorithms are used: movement along a piecewise linear route - in a straight line from point to point with rotation at an angle in nodes, motion along a smooth path (quadratic approximation), allowing smooth motion along a path, platform exchange protocol with the control center means information exchange in half-duplex mode with the MASTER-SLAVE structure, the software provides a mechanism for protection against loss of communication, the platform operator’s interface is based on the principle of obtaining maximum information content, minimum control and contains the main working areas of the computer screen: operational notification area, video data from cameras, display area of an electronic map of the area, area of the physical state of the platform, area for displaying detailed data , area of control of subsystems and devices.

The execution of the software of the robotic complex from the embedded platform software and the control center software allows you to:

- solve real-time control, navigation and orientation problems;

- track the position of the robotic complex on the background of an electronic map of the area;

- receive platform status messages requiring attention or immediate response by the operator;

- receive video data from video cameras;

- receive data showing the angles of the longitudinal and transverse inclination of the platform, the amount of battery charge, the amount of fuel in the tank, the speed and estimated range.

The functioning of the platform software in two levels allows:

- to ensure interfacing of the application software level with the platform hardware;

- perform initial processing of information flows.

Implementation of state algorithms platform software allows you to:

- manage on / off, platform power supply;

- provide autonomous orientation, determination of own coordinates of the location;

- to provide data transmission on a digital radio channel about the state of the platform;

- to provide reception on a digital radio channel of control commands from the command post;

- to ensure transmission over the radio channel of a masked television signal from three cameras.

The transfer at the request of the control point from the telemetry information platform in accordance with the previously installed mask or telemetry information in full allows you to:

- to ensure, if necessary, a reduction in the amount of information transmitted;

- for individual subsystems, if there is a refusal to receive detailed information by a separate request;

- when telemetry in full to receive the status of all systems.

The implementation of the motion control algorithm allows, based on the source data, to generate control signals for the platform propulsion subsystems, ensuring its movement along a given route.

The implementation of the algorithm for the mismatch of the sides in speed allows you to implement the rotation of the platform due to the difference in the speed of rotation of the power plants.

Using two algorithms when moving the platform along a given route: moving along a piecewise linear route, moving along a smooth path (quadratic approximation) allows you to:

- in the first case, to ensure movement in a straight line from point to point and rotation through an angle in nodes;

- in the second case, to carry out smooth movement along the trajectory without stopping at the highest possible speed.

The implementation of the protocol of information exchange of the platform with the control center in half-duplex mode with the MASTER-SLAVE structure allows you to initiate the exchange at the expense of the MASTER, which is the control center.

The presence in the software of a protection mechanism against loss of communication allows to reduce the likelihood of traumatic situations, the likelihood of damage to the robotic complex.

The implementation of the platform operator interface on the principle of obtaining maximum information content, minimum control and optimal separation of the computer screen into the main work areas allows you to:

- form information that is intuitive for perception about the state of the platform and the readings of its sensors

- concentrate the operator’s attention on the information received from the platform.

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The invention is illustrated by drawings, where figure 1 shows the structure of the control software; figure 2 is the main screen of the control point.

The method of information support of the robotic complex is implemented as follows.

The software of the robotic complex (RTK) consists of embedded platform software, control room software.

1. Platform software.

Due to the specifics of the platform firmware (real-time control and navigation tasks), the QNX operating system is used as the target platform. The specified operating system is certified for the Ministry of Defense of the Russian Federation.

2. Software control point.

One of the main tasks of the control center is to monitor the position of the RTK against the background of an electronic map of the area (ECM). Currently, the RF Ministry of Defense has adopted the only ECM standard - GIS Integration. The target software platforms are Windows and MSWS (Armed Forces Mobile System). Considering the developed development and certification tools for the RF Ministry of Defense, MSWS was chosen for the target platform.

3. The structure of the control software.

The following programming languages and translators were used for control software: GCC (C language compiler), Python 3.x (Python interpreter).

The platform software consists of two levels - the level of ensuring interfacing with hardware (drivers) and the application level. Device drivers (we will consider the driver of the navigation and orientation system (СНО 1)) provide interfacing of the application (control) software level with the platform hardware, performing primary information processing. On the example of a navigation system, this is obtaining data from three sources of navigation information: satellite navigation equipment (ASN) 2, strapdown inertial navigation system (SINS) 3, mechanical speed sensor (MDS) 4 and the formation, depending on the current data settings, for the application software level . Such a structure allows us to abstract at the application level from the hardware protocols of exchange with devices and subsystems, receiving from the driver already processed "clean" data. Device drivers can either be built into the operating system or be developed. The driver development tool is the GCC compiler, which provides the necessary performance.

The application software level is built on the basis of an interpreted programming language - Python 3.x in the form of a hierarchy of scripts of individual subtasks - the main control script distributes the data flows from device drivers to private target scripts.

Such a construction structure makes it possible to make management software (as having the maximum value) platform independent, available for adjustment and having the maximum possible period of relevance, because replacing hardware does not entail changes to this software.

4. Algorithms for the functioning of the platform.

The platform can be in the following modes: OFF / ON, STANDBY, operation from the battery (battery), operation from the power station through the battery, execution of control commands.

The main functions performed:

- autonomous orientation (determination of the directional angle);

- determination of the own location coordinates by satellite navigation signals, in odometer navigation mode and ASN + odometry mode;

- determination of the angular position in space;

- data transmission on a digital radio channel about the state of the platform (coordinates, angles, etc.);

- reception of control commands from the command post on a digital radio channel;

- transmission over the air of a masked television signal from three cameras.

5. Telemetry data transmitted from the platform.

At the request of the control center, telemetry information is transmitted in accordance with the previously installed mask, which ensures a reduction in the amount of information transmitted. For individual subsystems in the presence of a failure flag, detailed information can be obtained by a separate request.

Requests can be of two types:

- telemetry mask;

- telemetry in full.

The mask consists of four bytes, the bits of which, depending on the value, enable or disable the transmission of the corresponding data field.

The data transfer format is text-by-line, UTF-8 encoding, the line separator is the \ n character. At the beginning of each telemetry packet transmitted by mask, the presence of emergency situations of subsystems and devices is issued.

Telemetry in full:

- geodetic coordinates of the location - B, L, H;

- Euler angles of the platform position in degrees, minutes, seconds;

- status of cameras - on / off, channel frequency, type of encoding;

- battery status - voltage, overload (yes / no), overheating;

- condition of the power station - fuel, voltage, current, failures (yes / no);

- drive - control unit temperature, engine temperature, failures (yes / no);

- the external environment - the presence of obstacles, their location, chassis problems.

The list of control commands:

- turn on / off the camcorder N;

- set the channel number for the camcorder N;

- set the type of signal coding for camera N with the initial value of R;

- autonomous orientation mode;

- ACH control command - “control line”;

- setting the navigation mode - mode N;

- assignment of navigation and orientation coefficients - “row of coefficients”;

- turn on / off the power station;

- a command to start movement (speed starboard side, speed starboard side);

- emergency platform shutdown;

- route task number N - “task line”;

- start / end route task number N.

6. The algorithm for controlling the movement of the platform.

The initial data for the algorithm are:

- current location coordinates (satellite navigation, odometric navigation);

- current angular position of the platform in space;

- current speeds of movement (common vector, scalars of the starboard and port side);

- set route points;

- U-turn;

- route parameters (curvature, tolerance, etc.);

- pause / start command.

Algorithm Output:

- Accelerator signals to the starboard and port side;

- the direction of movement of the port and starboard;

- engine braking signals;

- Management of side gears;

- software signal to complete the movement.

Based on the source data, the motion control algorithm generates control signals to the platform propulsion subsystems, providing its movement along a given route.

Some types of signals from the listed are:

- pause / start command;

- software signal to complete the movement.

The pause / start command is used for adaptive motion control depending on external conditions. The source of this signal can be an operator or an external algorithm (for example, an obstacle detection algorithm), and depending on the assessment of the external situation, the current route can be canceled and a new one can be assigned.

A software signal to complete the movement is generated when the platform reaches the end point of the route with a given accuracy.

The route, as a rule, is defined by a set of consecutive points through which the platform must pass. One of the important parameters of the route is the tolerance and type of approximation. Since the navigation subsystem has finite accuracy, it is necessary to enter the tolerance for passing the control points of the route. The type of approximation of the route depends on the situation on the terrain and its type (field, road, city, etc.) and ultimately affects the speed of the route. Approximation of a route can be piecewise linear and quadratic. Quadratic approximation allows you to pass control points at the maximum possible speed (depending on the curvature), with piecewise linear approximation for passing control points, it is necessary to reduce the speed to the minimum. The choice of the type of approximation depends on many conditions and is selected by the operator based on the main criteria: accuracy of following the route, speed of the route.

7. A simplified model of the algorithm for generating the mismatch of the boards in speed.

When using a caterpillar mover, the only method for turning the platform is the method of varying the speeds of the sides of the platform. Thus, for a turn in the right direction, the difference in the speed of rotation of the power plants is introduced.

Depending on the type of route specification, two algorithms can be used:

Movement along a piecewise linear route.

In this type of movement, two types of movement are divided:

- in a straight line from point to point;

- rotation at an angle in knots.

Movement in a straight line is provided by the angle correction algorithm (deviation from a straight line) by entering a mismatch in the speed of the sides. The mismatch value is ranked according to the angle error;

- less than 10 °. Without changing the value of the speed of movement, by entering the mismatch of the sides. The speed mismatch is not more than 5%, the dependence is linear.

- more than 10 ° less than 30 °. Reducing the speed of the platform to 25% of the maximum, enter the mismatch of the speed of the sides. The speed mismatch is not more than 10%, the dependence is linear.

In the event of an emergency (exit from a straight line to a distance of more than 5 meters), the motion algorithm stops, an additional intermediate point located on a direct motion is introduced, and movement to this point is continued with the continuation of the algorithm from it.

Turning at a given angle in the nodes (points) of the route is carried out by stopping the platform when it reaches a given point and rotating the sides in the opposite direction until the desired angle is reached.

Movement along a smooth trajectory (quadratic approximation).

This algorithm, by virtue of the applied approximation method, allows smooth movement along the trajectory without stopping (except in cases of sharp angles) at the maximum possible speed. Management is carried out by mismatching the sides of the platform, depending on the curvature trajectory calculated at each point (angle of rotation). The decrease in speed depends on the curvature and has a step function, i.e. the speed is divided into ranges of 100, 50, 5% depending on the angle of curvature from 0 ° to 20 °, from 20 ° to 80 ° and from 80 ° and more, respectively, the percentage of speed.

In the event of an emergency (deviation from the route of more than 5 meters), the movement algorithm stops, an additional intermediate point located on the movement route is entered, and movement to this point is carried out with the continuation of the algorithm from it.

Common to both algorithms is a decrease in speed depending on the distance between the reference points of the route, i.e. when the distance between the points is less than 20 m, a linear decrease in the speed of movement up to 5% of the maximum inclusive is included, it being understood that the distance between the points cannot be less than 2 m.

8. Protocol exchange platform with the control point.

The control center exchanges with the platform in half duplex mode with the MASTER-SLAVE structure. Exchange is always initiated by the MASTER. Leading in the exchange is the control point.

RTK, being a potentially dangerous object, has a protection mechanism from communication loss. Regardless of the need for exchange, a control center with a frequency of 1 Hz initiates the exchange of empty messages with the platform. On the platform side, the presence of the specified exchange allows you to determine the presence of control from the control center and, in case of a failure in the exchange, stop the movement or other dangerous action.

All messages are divided into control commands, requests, answers. The exchange protocol is character-oriented, that is, all data is transmitted in a symbolic form, unless otherwise specified. Character encoding is ASCII.

In general, messages sent from the platform side consist of a header defining the start of the message, platform identifier (binary data), message body length byte (binary data), message body, message body checksum (CRC16 code) and the message end indication.

The message body may be absent, i.e. have zero length (messages for pinging the platform). The checksum for the zero message is 0 × 0000.

1 byte 2 bytes 1 byte up to 255 bytes 2 bytes 1 byte Title (0 × 01) Platform Identifier (ID) Length Message body CRC16 PKS (0 × 02)

After receiving the message, the platform responds with a receipt containing the string “OK” as the body of the message, provided that the command is accepted either with the string “ERROR_N”, indicating an error in accepting the message or inability to process this message. The type of error is determined by the parameter N. Also, a communication error is a transmission gap (timeout) between characters that exceeds the transmission time of one character, or a timeout between a message and a response that exceeds the transmission time of three characters.

The list of commands:

- set the channel number for camera N;

"SC" + "NMM_NMM_NMM",

where NMM is the camera number (symbol N) and the channel number (symbol MM). Listed through the delimiter "_". The number of NMM blocks is any. The NMM block anywhere in the message and equal to "000" turns off all cameras;

- set the type of signal encoding for video cameras with the original value of the encoding code

“SS” + “T_CC”,

where T is the encoding type number from 0 to 9, with a value of 0, there is no encoding, the CC parameter is ignored. CC code number for this type of encoding, from 00 to 99;

- autonomous orientation mode for SINS 3

"RG_NNNN.N",

if the parameter NNNN.N is absent, then the autonomous orientation mode SINS 3 starts, if the parameter is set, then the SINS 3 is displayed at the specified angle. Monitoring the completion of the gyrocompassing mode or exhibition at a given angle is done by querying the status of the platform;

- setting navigation mode

"SN_N",

where N 0 - integration, 1 - odometry, 2 - satellite navigation. The set mode after turning off the power is reset to mode 0;

- assignment of navigation and orientation coefficients - “row of coefficients”

- turn on / off the power station

“PW_OFF” or “PW_ON”;

- command to start movement (speed left side, speed right side) “manual control mode”

"MO_VV_WW";

- emergency stop platform "AA";

- enter the route task

"SW_T_N_PXxxxxxxx, xYyyyyyyyy, y_PXxxxxxxx, xYyyyyyyyy, y_PXxxxxxxx, xYyyyyyyyy, y_PXxxxxxxx, xYyyyyyyyy, y_PXxxxxxxx, xYyyyyyy

where T is the type of approximation of the route (0 is piecewise linear, 1 is quadratic);

N is the number of route points (cannot be zero and exceed the value of 255);

P - point identifier;

X - X coordinate identifier

Y - Y coordinate identifier

xxxxxxxx, x - value of the X coordinate

yyyyyyyy, y - value of the Y coordinate;

- start / end route task number N

RUN_N or STOP_N

- return to starting point

"RETURN".

9. The platform operator interface.

The main goal of the platform operator interface 5 is a maximum of information content, a minimum of control. Those. The platform operator’s interface should contain information on the platform’s status and its sensors (for example, video cameras) that are intuitive for perception. At the same time, it is necessary for the operator to require a minimum number of steps to configure and manage the platform, thereby concentrating all the operator’s attention on the information received from the platform.

The main working areas of the computer screen, which provides the interface 5 of the platform operator:

- operational notification area (OOU) 6 (a line that is displayed in a list containing messages to the operator about the state of the platform and requiring attention or immediate response of the operator). Located at the top of the screen, across its entire width;

- video data from video cameras (Airborne Forces) 7. A measuring mark is placed on the video images with the possibility of its movement for a rough estimate of the distance to the observed object;

- display area (OO) 8 ECM. The location of the platform is displayed depending on the current coordinates and direction of movement. The azimuth / directional angle of the platform and the coordinates of the platform are displayed in graphical and digital form. It allows you to put markers on a map with their description, the route to the specified point in the form of a polyline and save still images (photos) of cameras with reference to the map (coordinates) and direction (azimuth) with the further possibility of viewing them. Allows you to control the display scale;

- area of physical condition (OFS) 9 of the platform in the form of an icon of two projections of the platform (top and side views), showing the angles of the longitudinal and transverse inclination of the platform, the amount of battery charge, the amount of fuel in the tank, the speed and estimated range;

- display area of detailed data (OODD) 10 - currents, voltages, temperatures, etc.

- the area of control of subsystems and devices (OUPP) 11 (on / off, etc.) and settings (communication channel number, exchange rate, etc.).

Thus, in the present invention, the problem is solved to achieve a technical result, which consists in creating a method of information support for a robotic complex that provides autonomous orientation (determination of directional angle) within the framework of information exchange protocols, determining own position coordinates from satellite navigation signals, in odometer navigation mode and integrated mode, determining the angular position in space, data transmission by digital rad okanalu on the state of the complex (coordinates, angles), the reception of digital radio commands from the command post, the transmission over the air television signal masked by the three cameras.

Claims (1)

A method of information support for a robotic complex, which includes a computer unit and peripheral devices installed on the control object and interacting with each other via a communication channel by interchange of control and status signals in accordance with the exchange protocol according to the software, characterized in that the software of the robotic complex consists of from the embedded software of the platform of the robotic complex providing the solution of control tasks real-time navigation and navigation, control center software, the target platforms for which are Windows and MSVS (mobile system of the armed forces), the platform software operates on two levels - the level of hardware interface (drivers) and the application level built in the form of a hierarchy of scripts of individual subtasks, the platform software implements the algorithms of the following platform status modes: off / on, and waiting for a command (waiting), work that from the battery, operation from the power station through the battery, execution of control commands, at the request of the control center, telemetry information is transmitted from the platform in accordance with the previously installed mask, which reduces the amount of information transmitted, or telemetry information in full: geodetic coordinates of the location, Euler angles of the platform position in degrees, minutes, seconds, the state of the cameras, the channel frequency, the type of coding, the state of the batteries th, the state of the power station, the state of the drives, information about the external environment, control commands are sent from the control point to the cameras, the topographic location and orientation system, the power station, to the platform's motion support devices, the motion control algorithm implements the generation of accelerator signals to the starboard and port side, engine braking signals, software signal to complete the movement, working out the direction of movement of the left and right side, control of the side gears, as part of the control algorithm for by forming a speed mismatch algorithm is formed that provides platform rotation due to the difference in platform side motion speeds; when the platform moves along a given route, two algorithms are used: piecewise-linear route movement - in a straight line from point to point with rotation through nodes, movement along a smooth path (quadratic approximation), which allows for smooth movement along a path, the protocol for exchanging a platform with a control center implies information exchange in half duplex Nominal mode with the master-slave structure, the software provides a mechanism for protection against loss of communication, the platform operator interface is designed to maximize information content, minimum control and contains the main working areas of the computer screen: operational notification area, video data from video cameras, electronic map display area terrain, area of the physical state of the platform, area for displaying detailed data, area for managing subsystems and devices.

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