CN111815115A - Heterogeneous ground unmanned platform-oriented universal control system with interoperability - Google Patents

Heterogeneous ground unmanned platform-oriented universal control system with interoperability Download PDF

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CN111815115A
CN111815115A CN202010512091.2A CN202010512091A CN111815115A CN 111815115 A CN111815115 A CN 111815115A CN 202010512091 A CN202010512091 A CN 202010512091A CN 111815115 A CN111815115 A CN 111815115A
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余雪玮
宋威龙
苏波
苏治宝
赵熙俊
李宁
于华超
程文
刘雪妍
卢彩霞
刘忠泽
梁震烁
康晓
吴越
海丹
靳路
靳保
李兆东
安旭阳
李靖宇
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Abstract

The invention provides a heterogeneous ground unmanned platform-oriented universal control system with interoperability, which comprises an unmanned platform discovery module, a mutual aid module, a management module, a remote control driving module, an autonomous driving module, a state monitoring module and a reconnaissance monitoring module, wherein the unmanned platform discovery module is used for discovering a plurality of unmanned platforms; the command control system establishes connection with the controllable unmanned platform in the communication range through the unmanned platform discovery module, establishes a controllable unmanned platform resource list, and manages the operation state of the unmanned platform establishing connection by means of the management module; the mutual-help module receives the control demand or the help seeking information, selects the corresponding unmanned platform, controls the unmanned platform through the remote control driving module or the autonomous driving module, and obtains the unmanned platform state information and the reconnaissance result information through the state monitoring module and the reconnaissance monitoring module, so that the instruction control of the instruction control system on various heterogeneous unmanned platforms and the cooperative task demand among the various heterogeneous unmanned platforms are realized. The invention can improve the development efficiency of the command control system and is convenient for unified management of different heterogeneous ground unmanned platforms.

Description

Heterogeneous ground unmanned platform-oriented universal control system with interoperability
Technical Field
The invention relates to the technical field of control systems, in particular to a universal command control system with interoperability and oriented to a heterogeneous ground unmanned platform.
Background
Currently, the heterogeneity of ground unmanned platforms is expanding day by day, which refers to differences in functions, architecture, programming language, operating system, etc. Interoperability is the ability of two or more systems or applications to exchange information and to mutually utilize the exchanged information, which is a guarantee of communication and collaboration between different unmanned platforms that will benefit from the enhancement of interoperability in the future. With the emergence of various types of unmanned platforms and the requirement of cooperative tasks, the traditional method for customizing and developing a command control system for each heterogeneous ground unmanned platform has the defects of high cost and low efficiency, and is not suitable for a system consisting of a plurality of heterogeneous unmanned platforms. There is an increasing need to develop a universal command control system that can achieve collaboration among multiple heterogeneous unmanned platforms and can operate various ground unmanned platforms.
Disclosure of Invention
In view of this, the invention provides a heterogeneous ground unmanned platform-oriented universal command control system with interoperability, which can improve the development efficiency of the command control system and facilitate unified management of different heterogeneous ground unmanned platforms.
The technical scheme adopted by the invention is as follows:
a universal control system with interoperability for heterogeneous ground unmanned platforms comprises an unmanned platform discovery module, a mutual aid module, a management module, a remote control driving module, an autonomous driving module, a state monitoring module and a reconnaissance monitoring module, wherein all the modules are displayed in a window form on an interactive interface;
the universal control system is connected with a controllable unmanned platform in a communication range through an unmanned platform discovery module, a controllable unmanned platform resource list is established, and the operation state of the connected unmanned platform is managed by a management module to realize initialization, shutdown, restart and release control;
the mutual-help module receives the control requirement of the universal command control system or the help seeking information from the unmanned platform in the controllable unmanned platform resource list, selects the corresponding unmanned platform according to the control requirement or the help seeking information of the unmanned platform, controls the unmanned platform through the remote control driving module or the autonomous driving module, and respectively obtains the unmanned platform state information and the reconnaissance result information through the state monitoring module and the reconnaissance monitoring module, so that the command control of the universal command control system on various heterogeneous unmanned platforms and the cooperative task requirement among various heterogeneous unmanned platforms are realized.
Furthermore, when the unmanned platform discovery module establishes connection with the unmanned platform, the unmanned platform discovery module needs to broadcast query information, provides a connection application to the unmanned platform broadcasting in a communication range, and establishes connection between the unmanned platform discovery module and the unmanned platform after the unmanned platform agrees to the connection application.
Further, the controllable unmanned platform resource list includes identity information, capability information, configuration information and permission information of the unmanned platform establishing the connection.
Further, the management module continuously detects the connection state of the unmanned platform obtaining the control authority through the heartbeat signal, and if the connection is disconnected, the management module applies for connection establishment again.
Further, if the remote control driving module is used for controlling, the universal control system is connected to the peripheral control equipment, and the propulsion value and the braking value of the unmanned platform in the three directions of the vehicle body coordinate system X, Y, Z, and the rotation value and the braking value of the three axial directions of the heading angle, the roll angle and the yaw angle are controlled, so that the six-degree-of-freedom remote control driving is realized.
Further, if the autonomous driving module is used for controlling, the preset track or the route point track selected to be recorded is sent to the unmanned platform with the route point following function, and the unmanned platform automatically runs along the track.
Has the advantages that:
1. the unmanned platform discovery module of the universal command control system is connected with the unmanned platform, the mutual assistance module is used for realizing mutual assistance information transfer among the unmanned platforms, the cooperative tasks among heterogeneous unmanned platforms are realized, the unmanned platform is controlled through the management module, the remote control driving module and the autonomous driving module, the universal control capability is provided for the ground unmanned platforms with heterogeneous functions in the aspects of functional architecture, operating system, programming language and the like, the repeated development of control systems of different platforms is reduced, the development efficiency of the command control system is improved, and meanwhile the universal command control system can meet the requirements of unified management and iterative development of different ground unmanned platforms and adaptation to various cooperative tasks.
2. The invention establishes the connection between the command control system and the unmanned platform by providing an application and response mechanism, thereby ensuring the safety and reliability of the information of each unmanned platform.
3. The identity information, the capability information, the configuration information and the authority information of the unmanned platform are stored in the controllable unmanned platform resource list, so that the unmanned platform with the required capability can be conveniently found at any time, and the rapid pairing between the two unmanned platforms is realized.
4. The invention continuously detects the connection state of the unmanned platform with the control authority through the heartbeat signal, thereby ensuring the reliability of connection establishment.
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FIG. 1 is a flow chart of the control of each module of the command control system according to the present invention;
fig. 2 is a diagram of an application scenario of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a heterogeneous ground unmanned platform-oriented universal control system with interoperability, which comprises an unmanned platform discovery module, a mutual aid module, a management module, a remote control driving module, an autonomous driving module, a state monitoring module and a reconnaissance monitoring module, wherein all the modules are displayed in an interactive interface in a window form.
The discovery module is a module for discovering heterogeneous ground unmanned platforms existing in a communication range and establishing a corresponding controllable unmanned platform resource list by the universal control system, and is a core module with interoperability for the universal control system, and the universal control system realizes the universal control capability of the heterogeneous ground unmanned platforms.
The operation mechanism of the discovery module is as follows: the discovery module continuously broadcasts and sends inquiry information, and simultaneously, each heterogeneous ground unmanned platform broadcasts the identity identification information of the platform in the communication range of the platform.
The discovery module continuously receives broadcast information from the heterogeneous terrestrial unmanned platform.
The command control system provides a connection application to the unmanned platform in the communication range through the discovery module, and after the unmanned platform agrees to the connection application, the two parties establish connection. After the connection is established, the control system sends query messages such as capability information, configuration information, authority information and the like to the unmanned platform, and after the unmanned platform replies, a controllable unmanned platform resource list is established, wherein the list comprises the identity information, the capability information, the configuration information, the authority information and other related information of the unmanned platform. Table 1 shows the types of messages involved in the mechanism for discovery module operation.
Table 1 discovery module messages
Serial number Message type Message content Sender Receiving party
1 Discovery module messages Discovering query information Finger control system Broadcasting
2 Discovery module messages Reporting identity information Unmanned platform Broadcasting
3 Discovery module messages Request connection message Finger control system Unmanned platform
4 Discovery module messages Agree to connect message Unmanned platform Finger control system
5 Discovery module messages Query capability message Finger control system Unmanned platform
6 Discovery module messages Report capability message Unmanned platform Finger control system
7 Discovery module messages Querying configuration messages Finger control system Unmanned platform
8 Discovery module messages Report configuration messages Unmanned platform Finger control system
9 Discovery module messages Query permission message Finger control system Unmanned platform
10 Discovery module messages Reporting rights message Unmanned platform Finger control system
The mutual aid module is a module which is used for connecting the universal control system with heterogeneous unmanned platforms, realizes mutual aid information transmission among the platforms and realizes cooperative tasks among the heterogeneous unmanned platforms.
The operation mechanism of the mutual aid module is as follows: when the instruction control system has a control requirement or receives a 'help seeking' from an unmanned platform A in a controllable unmanned platform resource list, the instruction control system inquires the controllable unmanned platform resource list through a mutual help module, provides an instruction control application for an idle unmanned platform B which can meet the requirement of the unmanned platform A, and obtains an instruction control authority after the unmanned platform B agrees so as to instruct the unmanned platform B to help the unmanned platform A. Table 2 shows the types of messages involved in the operation mechanism of the mutual aid module.
TABLE 2 mutual aid Module message
Figure BDA0002528761630000051
The management module is a module for managing the operation condition of the heterogeneous unmanned platform by the universal control system.
The operation mechanism is as follows: and the command control system manages the running state of the unmanned platform added with the controllable unmanned platform resource list through the management module. The management module continuously detects the connection state of the unmanned platform obtaining the control authority through the heartbeat signal, and if the connection is disconnected, the connection is reapplied. The management module can be used for carrying out operations such as initialization, shutdown, restart, release control and the like on the unmanned platform. Table 3 shows various types of information related to the management module.
Table 3 management module messages
Figure BDA0002528761630000052
Figure BDA0002528761630000061
The remote control driving module is a module for remotely controlling the unmanned platform by the command control system.
The operation mechanism is as follows: under the unmanned platform remote control driving mode, the control system can be quickly connected to different external control equipment such as a rocker, a keyboard and a control panel, and the movement remote control of the heterogeneous unmanned platform is realized. The reason that the external control equipment can be quickly connected into the command control system is that no matter what equipment is, a unified remote control motion control mode is adopted, namely, the propulsion value and the braking value in three directions of the unmanned platform vehicle body coordinate system X, Y, Z, and the rotation value and the braking value in three axial directions of a course angle, a roll angle and a yaw angle are controlled, six-degree-of-freedom remote control driving is realized, the basic motion of the unmanned platform is controlled, and meanwhile, the unmanned platform feeds back current state information including current position, speed, course information and the like to the state monitoring module at intervals of fixed time periods under the control of the state module monitoring module. Table 4 shows various messages related to the remote driver module.
TABLE 4 remote drive Module messages
Figure BDA0002528761630000062
Figure BDA0002528761630000071
The autonomous driving module is a system for driving the autonomous driving function of the unmanned platform by the command control system.
The operation mechanism is as follows: the control system commands the unmanned platform to record waypoints, then sends a preset track or a waypoint track selected to be recorded to the unmanned platform with waypoint following function, the unmanned platform receives the waypoint track sent by the control system, so that the autonomous function of the unmanned platform is started, the unmanned platform automatically runs along the track, and current state information including position, speed, course information and the like is fed back to the state monitoring module at intervals of fixed time under the control of the state monitoring module. Table 5 shows the types of messages that the autonomous driving module relates to.
TABLE 5 autonomous drive Module messages
Figure BDA0002528761630000072
Figure BDA0002528761630000081
The state monitoring module is a module for receiving the state information regularly returned by the unmanned platform and displaying the self state information fed back by the current connecting platform vehicle in real time by the control system.
The operation mechanism is as follows: the command control system inquires the relevant information of the unmanned platform through the state monitoring module, and the unmanned platform reports various state information of the unmanned platform regularly and correspondingly, so that the command control system can monitor the state of the unmanned platform in real time. Table 6 shows the types of messages related to the status monitoring module. The platform state information includes positioning information, i.e., current position, speed, heading, battery remaining, communication status, operating status (autonomous or remote), speed mode, and health status (the platform is self-contained).
Table 6 unmanned platform (unmanned vehicle) status monitoring message
Figure BDA0002528761630000082
The reconnaissance monitoring module is a module for acquiring reconnaissance information of the unmanned platform by the command control system.
The operation mechanism is as follows: when the command control system provides a command result inquiry application to the unmanned platform through the command monitoring module, the unmanned platform reports the command data and the command results obtained through various sensors to the command control system in real time, wherein the command data and the command results comprise raw data, command result data and alarm information obtained through sensors such as a radar sensor, a camera, smoke, an infrared sensor, an ultrasonic sensor and a temperature sensor. And table 7 shows various messages related to the reconnaissance monitoring module, so that the command center can monitor the reconnaissance result of the unmanned platform in real time.
TABLE 7 unmanned platform (unmanned vehicle) reconnaissance monitoring message
Serial number Message type Message content Sender Receiving party
1 Vehicle reconnaissance monitoring module Inquiry of vehicle reconnaissance result Finger control system Unmanned platform
2 Vehicle reconnaissance monitoring module Vehicle reconnaissance result inquiry response Unmanned platform Finger control system
3 Vehicle reconnaissance monitoring module Raw video data Unmanned platform Finger control system
4 Vehicle reconnaissance monitoring module Voice data Unmanned platform Finger control system
5 Vehicle reconnaissance monitoring module Off-track alarm Unmanned platform Finger control system
6 Vehicle reconnaissance monitoring module Inertial navigation positioning state bad alarm Unmanned platform Finger control system
7 Vehicle reconnaissance monitoring module Platform high temperature alarm Unmanned platform Finger control system
8 Vehicle reconnaissance monitoring module Dangerous goods alarm Unmanned platform Finger control system
9 Vehicle reconnaissance monitoring module Obstacle early warning Unmanned platform Finger control system
10 Vehicle reconnaissance monitoring module Monitoring target early warning Unmanned platform Finger control system
11 Vehicle reconnaissance monitoring module Fire alarm Unmanned platform Finger control system
12 Vehicle reconnaissance monitoring module Communication intensity difference alarm Unmanned platform Finger control system
13 Vehicle reconnaissance monitoring module Platform roll warning Unmanned platform Finger control system
14 Vehicle reconnaissance monitoring module Vehicle low battery warning Unmanned platform Finger control system
15 Vehicle reconnaissance monitoring module Vehicle body fault alarm Unmanned platform Finger control system
As shown in fig. 1, the command control system establishes connection with a controllable unmanned platform in a communication range through an unmanned platform discovery module, establishes a controllable unmanned platform resource list, and manages the operation status of the unmanned platform establishing connection by means of a management module to realize initialization, shutdown, restart, and release control.
The mutual-help module receives the control requirement of the command control system or the help seeking information from the unmanned platform in the controllable unmanned platform resource list, selects the corresponding unmanned platform according to the control requirement or the help seeking information of the unmanned platform, controls the unmanned platform through the remote control driving module or the autonomous driving module, and then respectively obtains the unmanned platform state information and the reconnaissance result information through the state monitoring module and the reconnaissance monitoring module, so that the command control of the command control system on various heterogeneous unmanned platforms and the cooperative task requirement among various heterogeneous unmanned platforms are realized. As shown in fig. 2, the command control system is connected to the controllable unmanned platform A, B, C, D in the communication range, and can sequentially control the unmanned platform a to turn, the unmanned platform B to accelerate, the unmanned platform C to transmit the scout image in real time, and the unmanned platform D to move along the track of the designated waypoint.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. 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 (6)

1. A universal control system with interoperability for heterogeneous ground unmanned platforms is characterized by comprising an unmanned platform discovery module, a mutual assistance module, a management module, a remote control driving module, an autonomous driving module, a state monitoring module and a reconnaissance monitoring module, wherein each module is displayed in a window form on an interactive interface;
the universal control system is connected with a controllable unmanned platform in a communication range through an unmanned platform discovery module, a controllable unmanned platform resource list is established, and the operation state of the connected unmanned platform is managed by a management module to realize initialization, shutdown, restart and release control;
the mutual-help module receives the control requirement of the universal command control system or the help seeking information from the unmanned platform in the controllable unmanned platform resource list, selects the corresponding unmanned platform according to the control requirement or the help seeking information of the unmanned platform, controls the unmanned platform through the remote control driving module or the autonomous driving module, and respectively obtains the unmanned platform state information and the reconnaissance result information through the state monitoring module and the reconnaissance monitoring module, so that the command control of the universal command control system on various heterogeneous unmanned platforms and the cooperative task requirement among various heterogeneous unmanned platforms are realized.
2. The universal command control system with interoperability for heterogeneous ground unmanned platforms according to claim 1, wherein when the unmanned platform discovery module establishes connection with the unmanned platform, query information needs to be broadcasted, a connection application is provided to the unmanned platform which broadcasts within a communication range, and after the unmanned platform agrees with the connection application, connection between the unmanned platform and the unmanned platform is established.
3. The heterogeneous ground unmanned platform-oriented universal fingering system with interoperability as recited in claim 1, wherein the controllable unmanned platform resource list includes identity information, capability information, configuration information, and permission information of the unmanned platform establishing the connection.
4. The universal guidance system with interoperability for heterogeneous ground unmanned platforms according to claim 1, wherein the management module further continuously detects the connection state of the unmanned platform with control authority through a heartbeat signal, and if the connection is disconnected, the connection establishment is applied again.
5. The universal command control system for heterogeneous ground unmanned platforms with interoperability as claimed in claim 1, wherein if the control is performed by a remote control driving module, the universal command control system accesses a peripheral control device to control the propulsion value and the braking value of the unmanned platform in three directions of a vehicle body coordinate system X, Y, Z, and the rotation value and the braking value of three axial directions of a heading angle, a roll angle and a yaw angle, so as to realize six-degree-of-freedom remote control driving.
6. The universal guidance system for heterogeneous ground unmanned platforms with interoperability as claimed in claim 1, wherein if the control is performed by the autonomous driving module, the preset trajectory or the selectively recorded waypoint trajectory is transmitted to the unmanned platform with waypoint following function, and the unmanned platform automatically travels along the trajectory.
CN202010512091.2A 2020-06-08 2020-06-08 Heterogeneous ground unmanned platform-oriented universal control system with interoperability Pending CN111815115A (en)

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CN113753124A (en) * 2021-08-10 2021-12-07 北京智行者科技有限公司 Vehicle pivot steering control method, automatic driving control system and control equipment

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CN108153297A (en) * 2017-03-01 2018-06-12 中国北方车辆研究所 A kind of unmanned ground vehicle vehicle-mounted motion control method and onboard system
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Publication number Priority date Publication date Assignee Title
CN113753124A (en) * 2021-08-10 2021-12-07 北京智行者科技有限公司 Vehicle pivot steering control method, automatic driving control system and control equipment

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