CN109582017B - Method for expressing task planning result of unmanned system supporting multimode distribution - Google Patents
Method for expressing task planning result of unmanned system supporting multimode distribution Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides a method for expressing task planning results of an unmanned system supporting multi-mode distribution. The method forms relatively independent message words with fixed format by subdividing the task planning result, and is beneficial to performing operations such as local addition, deletion and modification on the task planning result. For the re-planning of human tasks in a loop, the subdivided message words can be flexibly assembled into super words with proper sizes, and the method can be suitable for information transmission links with different transmission bandwidths. Meanwhile, the structured and normalized representation method can realize the decoupling of the mission planning system and the unmanned system execution platform, so that the mission planning result has universality.
Description
Technical Field
The invention belongs to the technical field of electronic information engineering, and particularly relates to a structured representation method for task planning results.
Background
With the continuous improvement of the intelligent level of the unmanned system, the unmanned system can independently and autonomously complete specific tasks. However, on one hand, due to the limitations of hardware platforms and software algorithms of the unmanned system, such as processor units, memory units, power supplies and intelligent algorithms that can be supported accordingly, the unmanned system requires human assistance in the intelligent perception level to ensure complete and error-free identification of the surrounding environment, and on the other hand, limited by sociology, ethics and the like, the unmanned system requires human participation in the intelligent decision level to ensure that the key actions thereof are accepted by the public. Therefore, a cooperative intelligent system with human/unmanned based on intelligent perception and intelligent decision under human participation and fully autonomous intelligent processing of an unmanned system is becoming an important direction for the development of intelligent unmanned systems.
Unmanned system mission planning is human-defined, executable by an unmanned system, action planning over a period of time, including pre-action mission planning and on-action mission re-planning. Due to the complexity and continuity of tasks, the representation of the mission planning results is also diverse. Most often, mission planning systems are tightly coupled to the execution system, with the planning results based on the proprietary format of the particular platform. More common presentation methods are Unified Modeling Language (UML) and extensible markup language (XML). The former is a flowchart in nature, and reflects actions and the timing of the actions. The latter is essentially a tree diagram easy to expand, describing the sequence of actions and logical relationships of the various execution entities after task decomposition.
However, the task planning results are read, understood and executed by the unmanned system as a whole. Once the part of the task planning result needs to be added, deleted or modified, only a complete task planning result can be regenerated and then transmitted to the unmanned system. Meanwhile, the method mainly aims at the task planning before action, namely the pre-task planning. If manual intervention is needed in the task execution process, a new task plan is generated based on a new environment, and the method brings a large data volume and is not beneficial to updating the task plan in real time or near real time.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a structured representation method which can support the distribution of the pre-mission planning and the re-planning of the tasks of people in a loop in various information transmission bandwidths aiming at the output of the mission planning result of an unmanned system.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
(1) dividing a task planning result into four parts including platform load description, task target description, group behavior description and individual behavior description; the system comprises a platform, a group behavior description, a load control unit, a load management unit, a task management unit and a control unit, wherein the platform load description is subdivided into platform information and load information, the task target description is subdivided into task area information and target position information, the group behavior description is subdivided into task formation information and control alternation information, and the single behavior description is subdivided into waypoint information and load control information; the subdivided various information has a fixed format, and the information with the fixed format is called as a message word;
(2) filling the specific parameter values of the task planning result into each field of the message words correspondingly according to the meanings and the corresponding value ranges of the fields set in each message word, so that the task planning result is completely expressed by using a plurality of message words; suppose that the mission planning result is NAThe word length is fixed as LmIs represented by the message word of (a);
(3) determining the number N of message words transmitted each time as L/L according to the maximum word length L of one transmission of the linkmIf not, rounding down; n message words transmitted simultaneously are called as super words, and different types of message words are mixed to form the super words; the task planning result has NAFor a message word, N is requiredAThe task planning result can be sent to the unmanned platform only by N times of transmission; if n is not an integer, rounding up;
(4) the unmanned platform executes tasks according to the task planning result; in the process of executing the task, if the ground station needs to re-plan the task and the unmanned platform executes a new task plan, adding, deleting and modifying a task plan result through waypoint information described by a single behavior in a message word; whether a route is added, modified or deleted, the waypoint information contained in the generated waypoint basic word must be a waypoint in the original route, and if the waypoint is not the last waypoint of the original route, the waypoint information contained in the generated last waypoint extended word must also be a waypoint in the original route;
(5) and (4) sending the message words generated by the task re-planning to the unmanned platform according to the step (3).
The invention has the beneficial effects that:
the invention divides the planning result into relatively independent message words by logically classifying the task planning result, thereby not only improving the universality of the output of the task planning result, but also flexibly increasing, deleting, modifying and the like the task planning result through partial message words.
The invention combines N message words transmitted simultaneously into a super word, and combines different numbers of message words to form a super word, thereby enabling a task planning result to be suitable for distribution under different transmission bandwidth scenes.
The invention carries out addition, deletion and modification operations on the mission planning result, and realizes the addition, deletion and modification operations on the mission planning result by setting different values according to the 'operator' field of the extension word in the waypoint information.
The invention adopts the structured representation of the task planning result, and constructs different hypergraphs for distribution under the condition of different information transmission bandwidths by dividing the independent message words, thereby effectively realizing the operations of increasing, deleting, modifying and the like of the prior task planning and the human-in-loop task re-planning, and having certain engineering application value.
Drawings
FIG. 1 is a schematic diagram of a message word header format;
FIG. 2 is a schematic diagram of a platform payload description information format, including platform information and payload information;
FIG. 3 is a diagram of a task object description information format, including task area information and object location information;
FIG. 4 is a schematic diagram of a group behavior description information format, including task formation information and control alternation information;
FIG. 5 is a schematic diagram of a single behavioral description information format, including waypoint information and load control information;
FIG. 6 is a diagram illustrating an example scenario for task planning result application.
Detailed Description
The present invention will be further described with reference to the following drawings and examples, which include, but are not limited to, the following examples.
The purpose of the invention is realized as follows:
(1.1) firstly, dividing the task planning result into four parts, platform load description, task target description, group behavior description and individual behavior description, as shown in fig. 1. The platform load description is subdivided into platform information and load information, the task target description is subdivided into task area information and target position information, the group behavior description is subdivided into task formation information and control alternation information, and the single behavior description is subdivided into waypoint information and load control information. The subdivided information has a fixed format, as shown in fig. 2,3,4, and 5, and such information having a fixed format is hereinafter referred to as a message word.
And (1.2) filling specific parameter values of the task planning result into each field of the message words correspondingly according to the meaning and the corresponding value range of each field in each message word shown in the table 1, so that the task planning result is completely expressed by using a plurality of message words. The number of the message words is related to the task planning result, and the larger the scale of the task planning is, the more the parameters of the task planning result are input, and the more the corresponding number of the message words is. In general, assume that the mission planning results are available with NAA message word.
Table 1 is an example of the meaning and value range of each message field
And (1.3) determining the number N of message words transmitted each time according to the maximum word length L transmitted by the link at one time. The word length of each message word is fixed to LmThen N is equal to L/Lm(if not an integer, rounding down). The N simultaneously transmitted message words are referred to as a super word and different types of message words can be mixed to form the super word. The task planning result has NAFor a message word, N is requiredAThe task planning result can be sent to the unmanned platform by the transmission of/N (if the integer is not the integer, the integer is taken up).
And (1.4) next, the unmanned platform executes the task according to the task planning result. During the task execution process, the ground station needs to re-plan the task for various reasons (such as finding a new target, encountering a new threat, artificially adjusting the task, etc.), and let the unmanned platform execute a new task planning result. Through the division of the message words in (1.1), the result of task re-planning mainly influences the waypoint information and the load control information described by the single behavior. And operations such as addition, deletion, modification and the like of a task planning result can be realized through an operator identification field (the length is 2 bits, and four operations including no operation, route addition, route deletion and route modification can be represented) in an expansion word of the waypoint information. Assume that the waypoints of the initial mission plan are A → B → C → D → E, and the waypoint numbers of the routes 1, A, B, C, D, E are 1,2,3,4,5, respectively.
(1.4.1) modify a waypoint, e.g., change waypoint B to B'. Firstly, a waypoint basic word is sent, which contains the position information of waypoint B, then a waypoint extended word is sent, which contains the route number and the waypoint serial number which are the same as those of B, respectively 1 and 2, and contains the position information of B', and the corresponding operator mark is 11 (route modification).
(1.4.2) modifying a portion of the lane, e.g., changing the portion of the lane B → C → D to B → K → L → D. Firstly, a waypoint basic word is generated, which contains the position information of waypoint B, then four waypoint extension words are generated, the number of the reassigned route is 2, the number of the reassigned waypoint is 1,2,3 and 4, the position information of waypoint B, K, L, D is contained, and the corresponding operator mark is 11 (modified route).
(1.4.3) add a lane, for example, add a partial lane B → C → D with a lane B → K '→ L' → D. Firstly, a waypoint basic word is generated, the waypoint basic word comprises the position information of waypoint B, then four waypoint extension words are generated, the number of the reassigned route is 3, the serial numbers of the reassigned waypoints are 1,2,3 and 4, the position information of waypoints B, K ', L' and D is contained, and the corresponding operator mark is 01 (the route is added).
(1.4.4) delete a lane, e.g., delete partial lane C → D → E. Firstly, a waypoint basic word is generated, which contains the position information of waypoint C, then three waypoint extension words are generated, which contain the route number and the waypoint serial number which are the same as C, D, E, and contain the position information of waypoint C, D, E, and the corresponding operator mark is 10 (route deletion).
(1.4.5) generally, whether a route is added, modified or deleted, the waypoint information contained in the generated waypoint basic word must be a waypoint in the original route, and if the waypoint is not the last waypoint of the original route, the waypoint information contained in the generated last waypoint extension word must also be a waypoint in the original route.
And (1.5) finally, sending the message words generated by the task re-planning to the unmanned platform according to the method of (1.3).
By subdividing the message words of the task planning result, each message word is relatively independent, so that the operations of adding, deleting, modifying and the like on the task planning result are facilitated, and meanwhile, the structural and standardized representation method can realize the decoupling of the task planning system and the unmanned system execution platform, so that the task planning result has universality. In addition, for the task re-planning of a human in a loop, the subdivided message words can be flexibly assembled into a superword with a proper size, and the method can be suitable for information transmission links with different transmission bandwidths.
The invention does not relate to specific task planning, but distributes the planning results to the corresponding unmanned platform in a structured hypergraph. The following further describes a specific implementation of the present patent with reference to an application scenario example in fig. 6:
1. and the task planning system outputs a planning result, wherein the planning result comprises the type of the unmanned platform, the type of the platform and the type of the load to be carried for executing the task, a task area and a possible target position, and the formation type, formation parameters and air route information for executing the task adopted by the unmanned platforms. In an example, the unmanned platform type is unmanned aerial vehicle, the platform type is coded as 1, the type of the load carried is visible light camera, the load type and the load parameters are 002 and 3500, respectively, the type of the mission area is ellipse, the reference point is at (longitude, latitude, height) ═ 124,24,0), (longitude difference, latitude difference, height difference) ═ 2.5,3.2,0) between the major axis and the reference point, (longitude difference, latitude difference, height difference) ═ 1.2,1,0 between the minor axis and the reference point, the target type is ground target, the possible target positions are (longitude, latitude, height) ═ 125.2,26.1,0), the unmanned aerial vehicle flies in platoon, the spacing between platoon members is 200 meters, the planned route has 4 waypoints, and waypoint 1 opens the visible light camera and closes the visible light camera at waypoint 4.
2. A message word is constructed. According to the field meaning description in table 1, the specific numerical values in the task planning result are filled in the corresponding fields according to the message word formats of fig. 2, fig. 3 and fig. 4. In the example, the platform payload description information will form two message words, respectively a platform information elementary word 1: 0100100100000000000001000000010000000000000000000000000000000000000000000000 and basic word of load information 1: 0100101000000000000100000010000011011010110000000000000000000000000000000000. similarly, task target description information respectively forms a task area information basic word 1, a task area information extension word 1, a target position information basic word 1 and a target position information basic word 2, group behavior description information respectively forms a task formation information basic word 1 and a control alternation basic word 1, and single behavior description information respectively forms an airway point information basic word 1, an airway point information extension word 2, an airway point information extension word 3, an airway point information extension word 4 and a load control information basic word 1. There are a total of 14 message words.
3. The bandwidth is estimated. As can be seen from the operation scenario of fig. 6, the mission planning result is first transmitted from the mission planning system to the ground station through the wired network, and then distributed to the three drone platforms by the ground station through the wireless network. Since the transmission bandwidths of the wired network and the wireless network are different, the hypergraph structures constructed in the wired network and the wireless network are different. In the example, it is assumed that a wired network can transmit 512-bit data at a time, i.e., LWiredThe wireless network can transmit 192 bits of data at a time, i.e., L512Wireless192. Each message word is 80 bits long, Lm80, a wired network can therefore transmit N at a timeWired512/80 ≈ 6 message words, the wireless network can transmit N at a timeWireless192/80 ≈ 2 message words.
4. And constructing the super word. And if the task planning result needs 14 message words in total, the wired network combines the 6 message words into a super word for transmission, and distributes the task planning result to the ground station in three times (the super word transmitted at the last time only has 2 message words). And the wireless network combines the 2 message words into a super word for transmission, and distributes the task planning result to the unmanned aerial vehicle platform in seven times.
Finally, it should be noted that the above examples are only intended to describe the technical solutions of the present invention and not to limit the technical methods, the present invention can be extended in application to other modifications, variations, applications and embodiments, and therefore all such modifications, variations, applications, embodiments are considered to be within the spirit and teaching scope of the present invention.
Claims (1)
1. A method for representing results of unmanned system mission planning supporting multi-mode distribution, comprising the steps of:
(1) dividing a task planning result into four parts including platform load description, task target description, group behavior description and individual behavior description; the system comprises a platform, a group behavior description, a load control unit, a load management unit, a task management unit and a control unit, wherein the platform load description is subdivided into platform information and load information, the task target description is subdivided into task area information and target position information, the group behavior description is subdivided into task formation information and control alternation information, and the single behavior description is subdivided into waypoint information and load control information; the subdivided various information has a fixed format, and the information with the fixed format is called as a message word;
(2) filling the specific parameter values of the task planning result into each field of the message words correspondingly according to the meanings and the corresponding value ranges of the fields set in each message word, so that the task planning result is completely expressed by using a plurality of message words; suppose that the mission planning result is NAThe word length is fixed as LmIs represented by the message word of (a);
(3) determining the number N of message words transmitted each time as L/L according to the maximum word length L of one transmission of the linkmIf not, rounding down; n message words transmitted simultaneously are called as super words, and different types of message words are mixed to form the super words; the task planning result has NAFor a message word, N is requiredAThe task planning result can be sent to the unmanned platform only by N times of transmission; if n is not an integer, rounding up;
(4) the unmanned platform executes tasks according to the task planning result; in the process of executing the task, if the ground station needs to re-plan the task and the unmanned platform executes a new task plan, adding, deleting and modifying a task plan result through waypoint information described by a single behavior in a message word; whether a route is added, modified or deleted, the waypoint information contained in the generated waypoint basic word must be a waypoint in the original route, and if the waypoint is not the last waypoint of the original route, the waypoint information contained in the generated last waypoint extended word must also be a waypoint in the original route;
(5) and (4) sending the message words generated by the task re-planning to the unmanned platform according to the step (3).
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