CN113148024A - Unmanned boat-machine cluster automatic multi-scene collaboration platform and system - Google Patents
Unmanned boat-machine cluster automatic multi-scene collaboration platform and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The invention discloses an unmanned ship-plane cluster automatic multi-scene collaborative platform and a system, which comprises a plurality of unmanned planes and a plurality of unmanned planes, and comprises a working platform and a supporting structure arranged at the bottom of the working platform; the working platform comprises an unmanned aerial vehicle platform and an unmanned boat platform which are connected up and down; the unmanned aerial vehicle platform comprises a parking platform, a communication control device and a first energy supply device, wherein the communication control device and the first energy supply device are arranged in the parking platform; the communication control device is in communication connection with the unmanned aerial vehicle, the first energy supply device and the automatic skylight mechanism respectively; the unmanned boat platform comprises a parking space and an automatic opening and closing gate arranged at the bottom of the parking space, the top of the parking space is also provided with a control device, a second energy supply device, a beam moving mechanism and a drying system, and the beam moving mechanism is also provided with a hinge mechanism; the control device is respectively in communication connection with the unmanned boat, the second energy supply device, the beam moving mechanism, the drying system and the hinge mechanism.
Description
Technical Field
The invention relates to the technical field of unmanned control, in particular to an unmanned boat-machine cluster automatic multi-scene collaboration platform and system.
Background
At present, no special working platform for unmanned aerial vehicles and unmanned boats in estuaries, coasts, island reefs and other areas is formed, and when the unmanned boats are required to be used, the unmanned boats are usually laid and recovered from shore bases, mother ships or carrying airplanes; when the unmanned ship is laid from the shore base, the unmanned ship needs to be transported to a wharf and a port by a truck for laying; when the mother ship carrying aircraft is deployed, the mother ship needs to sail to the position near a target point to deploy. This mode of deployment has the following disadvantages: firstly, a large amount of time is wasted in the transportation process, and the time lag exists; secondly, no matter the ship is laid on a shore base, a mother ship or a carrying airplane, fuel and maintenance expenditure can be generated in the middle carrying process, and the operation and maintenance cost is high; finally, the laying action has high dependence on manual assistance, and the transportation, the laying position selection, the recovery and other work need to be operated by manpower, so the cost is high; furthermore, casualties and the like may occur even under extreme weather, disaster occurrence or abnormal (e.g., war) conditions.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an unmanned boat-machine cluster automatic multi-scene collaboration platform and system.
In order to achieve the purpose, the invention adopts the following technical scheme:
the unmanned ship-airplane cluster automatic multi-scene collaborative platform comprises a plurality of unmanned planes and a plurality of unmanned ships, and comprises a working platform and a supporting structure arranged at the bottom of the working platform; the working platform comprises an unmanned aerial vehicle platform and an unmanned ship platform which are connected up and down, the unmanned aerial vehicle platform comprises a parking platform, a communication control device and a first energy supply device, the communication control device and the first energy supply device are arranged in the parking platform, and an automatic skylight mechanism is arranged at the top of the parking platform; the communication control device is in communication connection with the unmanned aerial vehicle, the first energy supply device and the automatic skylight mechanism respectively; the unmanned ship platform comprises a parking space and an automatic opening and closing gate arranged at the bottom of the parking space, the top of the parking space is also provided with a control device, a second energy supply device, a beam moving mechanism and a drying system, and the beam moving mechanism is also provided with a hinge mechanism; the control device is respectively in communication connection with the unmanned boat, the second energy supply device, the beam moving mechanism, the drying system and the hinge mechanism; the communication control device and the control device can receive a communication signal of a task allocation sent by the system.
The automatic skylight mechanism comprises a driving mechanism, a control system, a switch and a skylight assembly, wherein the skylight assembly is connected with the parking platform in a sliding manner; the control system is respectively in communication connection with the switch, the driving mechanism and the communication control system, and the driving mechanism enables the skylight assembly to be opened and closed in a sliding mode.
The skylight assembly comprises a translational connecting mechanism and two rectangular skylights, the skylights are connected with the parking platform through the translational connecting mechanism, the driving mechanism is embedded into the translational connecting mechanism, and silica gel strips are arranged at the connecting positions of the skylights; the surface in skylight still is provided with solar panel, solar panel with first energy supply device electric connection.
It should be noted that the beam moving mechanism includes a beam and an electric rail, the electric rail is disposed on the top of the parking space, the beam is connected with a hinge mechanism, and the electric rail is in communication connection with the control device.
It should be noted that an unmanned aerial vehicle charging interface is arranged on the first energy supply device; the second energy supply device is provided with an unmanned boat charging interface; the drying system is used for drying the unmanned ship.
The hinge mechanism comprises a motor and a hinge, wherein one end of the hinge is connected with the motor, and the other end of the hinge is connected with a clamp; the clamp is an openable ring, and the clamp and the motor are respectively in communication connection with the control device.
It should be noted that the periphery of the supporting structure is provided with spiral steps and a handrail, and a rubber protective layer is arranged outside the handrail.
The system specifically comprises the following operation steps:
i: performing dynamic modeling evaluation on the unmanned ship or unmanned aerial vehicle operation multi-scene;
II: evaluating and analyzing the situation of an application scene;
III: establishing a utility matrix of the unmanned aerial vehicle cluster or the unmanned ship cluster, and clustering the unmanned aerial vehicle cluster or the unmanned ship cluster;
IV: deciding to output an optimal scheme for cooperation of the unmanned aerial vehicle or the unmanned ship;
v: the system sends a communication signal to a communication control device or a control device to dispatch the unmanned aerial vehicle or the unmanned ship;
VII: and updating the scene state in real time and adjusting the dispatch of the unmanned aerial vehicle or the unmanned boat in real time.
It should be noted that the system outputs a decision of the collaborative airship based on the Copeland aggregation algorithm, and the specific steps are as follows:
s1, establishing a maneuvering decision set model:
unmanned aerial vehicle: setting the speed K to have 3 states { K,0, -K }, which respectively correspond to the full speed, the medium speed and the slow speed of the unmanned aerial vehicle; the lift force L has 3 states { L, mg, -L }, and respectively corresponds to the ascending, hovering and descending of the unmanned aerial vehicle; the rotation angle omega also has 3 states { omega, 0, -omega }, which respectively correspond to the right turn, the neutral turn and the left turn of the unmanned aerial vehicle; if the control vector W of the unmanned aerial vehicle is [ K, L, ω ], each corresponding unmanned aerial vehicle control vector W has 27 maneuver decisions, thereby forming a maneuver decision set including 27 basic maneuvers;
unmanned ship: the speed K ' is set to have 3 states { K ',0, -K ' }, which respectively correspond to the full speed, the medium speed and the slow speed of the unmanned ship; the corner omega ' also has 3 states { omega ',0, -omega ' }, which respectively correspond to the right turn, the neutral turn and the left turn of the unmanned boat; if the control vector W 'of the unmanned ship is [ K', ω '), each corresponding unmanned ship control vector W' has 9 maneuvering decisions, so that a maneuvering decision set comprising 9 basic maneuvering actions is formed;
s2 determines the merit function:
distance merit function Sr：
In the formula, r is the linear distance between the unmanned aerial vehicle/unmanned ship and the task target (which can be shot by the unmanned aerial vehicle for real-time feedback update), and r isdThe optimal working distance of the unmanned aerial vehicle/unmanned ship is obtained;
speed advantage function Sv：
In the formula, VmaxUpper limit of the speed of the ship/aircraft, VminLower limit of the speed of the aircraft/boat, vpIs the engine/boat speed;
height dominance function Sh：
HFbestFor optimum viewing height, HFAnd HTThe heights of the unmanned aerial vehicle/boat and the task target respectively;
the overall advantage function S is obtained by synthesis:
S＝F(Sr，Sv，Sa，Sh)；
s3 constructs a group utility matrix:
according to the specific application scenario, to track the target TjManeuvering scheme set Y on water surface under action of wind and wave flowjAnd PIManeuvering scheme collection UI＝{aI1,…,aIk,…,aImT is calculated according to the merit functionjAnd PIThe situation assessment matrix of (1):
in the formula
Indicating plane/boat PIBy using a maneuvering scheme aIkTask goal TjUnder the action of wind and wave flow, adopts a motion scheme thetaj A state-of-affairs evaluation value in a state,
can be represented by the formula S ═ F (S)r,Sv,Sa,Sh) The solution is carried out by the following steps,
the larger, the pair PIThe more advantageous;
predicting the motion state of the task target according to storm flow data collected by a sensor installed on the unmanned ship in real time to obtain TjAdopting a motion scheme thetajlHas a probability of pi (theta)jl)；
Count this probability into PiFor TjSituation assessment matrix of
Thus, a risk decision matrix is obtained
According to the expected utility maximization criterion, summing every row of the matrix to obtain PiTo UIVarious maneuvering schemes aikExpected utility of
According to desired effect
Size to UISorting is carried out to obtain PiBy TjIs an object pair UIPreference ranking of
According to the permutation and combination, p units of the square unmanned aerial vehicle/unmanned ship group have p multiplied by t ranks to the number t of detection/rescue targets to form a rank set
S4 executes a group decision algorithm:
the unmanned aerial vehicle group and the unmanned ship group are respectively used as an execution unit, and each decision member gives t pairs of U by taking t working units as targetsIIn a different order of preference, PiDifferent votes are paid for the t groups in the sorting mode, and the authority given to each decision-making member is equal, namely the total votes of each single unmanned plane or boat are all 1, and the votes are set
Comprises the following steps:
after all preference sequences and the obtained corresponding votes are determined, a Copeland function can be applied to aggregation; the Copeland function value calculation formula is as follows:
fCp(aik)＝N{a：a∈Uiand a isik＞Ga}-N{a：a∈UiAnd a >)Gaik}；
Wherein N { a: a ∈ UiAnd a isik＞Ga } represents aikU capable of being integrally superior to U according to the majority principleiNumber of active scenarios, N { a: a ∈ UiAnd a >)GaikDenotes UiThe medium-energy over-half principle is better than aikNumber of manoeuvres of (f)Cp(aik) Then represents aikComparing the quality with other maneuvering schemes one by one; f. ofCpThe maneuvering scheme with the maximum value is the decision result of the unmanned aerial vehicle or the boat group; and (4) the step S3 and the step S4 are repeatedly executed to complete the automatic cooperative control of the unmanned aerial vehicle and the boat group.
The invention has the beneficial effects that:
1. the automatic processing is realized through an intelligent technology, manual distribution, recovery, parking and the like are replaced, multiple expenses such as fuel, depreciation, repair and the like generated in the distribution and recovery transportation process of the unmanned aerial vehicle and the unmanned ship each time can be avoided, and the maintenance cost, the transportation cost, the time cost and the labor cost are reduced;
2. the working efficiency is improved, the unmanned aerial vehicle or the unmanned ship can be directly controlled and output through the system, unnecessary casualties are completely avoided, and the unmanned aerial vehicle can normally work in extreme weather, disaster occurrence and war periods;
3. the system can modularly configure the unmanned aerial vehicle and the unmanned ship according to actual demands, complete cooperative work, easily cope with different application scenes, evaluate the real-time situation and the future trend of a work task, make adjustment in real time, and have high cooperative efficiency.
4. The spiral steps are arranged on the supporting structure, an access passage is provided for maintenance personnel, and meanwhile the structure can also play a role in eliminating waves and resisting waves and protecting the supporting structure, so that the long-term normal operation is guaranteed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a reference view of the sunroof apparatus of FIG. 1 in a closed and open state;
FIG. 3 is a schematic structural view of the docking platform of FIG. 1;
FIG. 4 is a schematic view of the parking space of FIG. 1;
FIG. 5 is a schematic structural view of the support structure of FIG. 1;
FIG. 6 is an enlarged view of A in FIG. 5;
FIG. 7 is a schematic view of the hinge mechanism of FIG. 4;
FIG. 8 is a schematic view of the structure of the fixture of FIG. 7;
FIG. 9 is a schematic view of the structure of the clamp of FIG. 7
Fig. 10 is a flow chart of the operation of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the present embodiment is based on the technical solution, and the detailed implementation and the specific operation process are provided, but the protection scope of the present invention is not limited to the present embodiment.
The embodiment provides an unmanned ship-airplane cluster automatic multi-scene collaborative platform and a system, as shown in fig. 1-7, the unmanned ship-airplane cluster automatic multi-scene collaborative platform comprises a plurality of unmanned planes and a plurality of unmanned ships, and comprises a working platform 1 and a supporting structure 2 arranged at the bottom of the working platform 1; the working platform 1 comprises an unmanned aerial vehicle platform 3 and an unmanned ship platform 4 which are connected up and down, the unmanned aerial vehicle platform 3 comprises a parking platform 5, a communication control device and a first energy supply device which are arranged in the parking platform 5, and an automatic skylight mechanism 6 is arranged at the top of the parking platform 5; the communication control device is in communication connection with the unmanned aerial vehicle, the first energy supply device and the automatic skylight mechanism 6 respectively; the unmanned ship platform 4 comprises a parking space 7 and an automatic opening and closing gate arranged at the bottom of the parking space 7, the top of the parking space 7 is also provided with a control device, a second energy supply device, a beam moving mechanism 8 and a drying system, and the beam moving mechanism 8 is also provided with a hinge mechanism 9; the control device is respectively in communication connection with the unmanned boat, the second energy supply device, the beam moving mechanism 8, the drying system and the hinge mechanism 9; the communication control device and the control device can receive a communication signal of a task allocation sent by the system.
By the structure, when the system sends a communication signal for allocating tasks to the communication control device, the communication control device controls the automatic skylight mechanism to be opened, so that the unmanned aerial vehicle can fly out of the parking platform and then automatically close; similarly, when the system sends a communication signal for allocating tasks to the control device, the control device controls the automatic opening and closing gate to open, then the control device enables the beam moving mechanism to move, the unmanned ship to be placed below is moved to the middle, then the control device controls the hinge mechanism to place the unmanned ship in the water, and then the hinge mechanism is automatically folded; it should be noted that the part of the supporting structure exposed out of the water level is larger than the highest flood level in the area for hundred years, and the surplus water level is 0.5 m.
In this embodiment, as shown in fig. 1-2, the automatic skylight mechanism 6 includes a driving mechanism, a control system, a switch, and a skylight assembly 61, and the skylight assembly is slidably connected to the parking platform 5; the control system is respectively in communication connection with the switch, the driving mechanism and the communication control system, and the driving mechanism enables the skylight assembly to be opened and closed in a sliding mode; the skylight assembly 61 comprises a translational connecting mechanism and two rectangular skylights, the skylights are connected with the parking platform 5 through the translational connecting mechanism, the driving mechanism is embedded into the translational connecting mechanism, and silica gel strips are arranged at the connecting positions of the skylights; the surface in skylight still is provided with solar panel 11, solar panel 11 with first energy supply device electric connection.
It should be noted that the automatic skylight mechanism is consistent with the principle of an automatic opening and closing skylight in the prior art, and the driving mechanism in the automatic skylight mechanism is also in the prior art, and for example, the automatic skylight mechanism may include a motor, a transmission mechanism, a sliding screw mechanism, a sliding mechanism, and the like in the prior art; the translational connecting mechanism comprises a slide rail, a guide block, a guide pin, a connecting rod, a bracket, a front pillow seat, a rear pillow seat and the like in the prior art; the motor provides power for opening and closing the skylight assembly through a transmission mechanism; the control system is a digital circuit in the prior art, and the digital circuit is provided with a timer, a buzzer, a relay and the like and is used for receiving a control signal sent by the communication control device. By adopting the structure, after the switch is turned on, the communication control device sends a signal to the control device, and after the control system receives the control signal, the control system controls the driving device to enable the skylight assembly to perform translational opening and closing actions; by arranging the silica gel strip, the airtightness of the automatic skylight mechanism can be ensured, water leakage can be effectively prevented, and meanwhile, the automatic skylight mechanism can be prevented from collision and shock in the opening and closing process; solar panel can carry out the energy supply for first energy supply device, second energy supply device, unmanned aerial vehicle and unmanned ship etc. avoids behind external power supply disconnection, loses the energy supply.
In this embodiment, as shown in fig. 4, the beam moving mechanism 8 includes a beam 81 and an electric rail 82, the electric rail 82 is disposed at the top of the parking space 7, the beam 81 is connected to a hinge mechanism 9, and the electric rail 82 is in communication connection with the control device. In the above structure, the control device controls the electric rail to move, so that the beam can complete the movement.
As a preferred scheme, an unmanned aerial vehicle charging interface is arranged on the first energy supply device; the second energy supply device is provided with an unmanned boat charging interface; the drying system is used for drying the unmanned ship.
By the arrangement of the structure, the first energy supply device provides electric energy for the unmanned aerial vehicle, and the unmanned aerial vehicle is charged through the unmanned aerial vehicle charging interface; the second energy supply device provides electric energy for the unmanned ship, and the unmanned ship is charged through the unmanned ship charging interface.
In this embodiment, as shown in fig. 4, 7, 8, and 9, the hinge mechanism 9 includes a motor and a hinge 91, one end of the hinge 91 is connected to the motor, and the other end is connected to a clamp 92; the clamp 92 is an openable ring, and the clamp 92 and the motor are respectively in communication connection with the control device. In the structure, the control device controls the motor to rotate forwards and backwards, so that the hinge can be folded and lowered; the control device controls the clamp to be opened and closed, and the clamp is used for clamping the unmanned ship to realize fixing, moving, laying and recovering of the unmanned ship.
In this embodiment, as shown in fig. 1 and 6, a spiral step 21 and a handrail 22 are provided on the periphery of the support structure 2, and a rubber protective layer is provided on the outside of the handrail 22; it should be noted that an access door 10 is disposed at a connection position of the spiral step and the workbench. In the structure, after maintenance personnel pass through the access door, the spiral steps can be used as an access passage, and have the functions of wave elimination and wave resistance; the rubber protective layer is arranged to prevent maintenance personnel from electric shock in thunderstorm weather.
In this embodiment, a flow chart of the cooperative work method of the unmanned aerial vehicle-boat group is shown in fig. 10, and the system specifically operates as follows:
i: performing dynamic modeling evaluation on the unmanned ship or unmanned aerial vehicle operation multi-scene;
II: evaluating and analyzing the situation of an application scene;
III: establishing a utility matrix of the unmanned aerial vehicle cluster or the unmanned ship cluster, and clustering the unmanned aerial vehicle cluster or the unmanned ship cluster;
IV: deciding to output an optimal scheme for cooperation of the unmanned aerial vehicle or the unmanned ship;
v: the system sends a communication signal to a communication control device or a control device to dispatch the unmanned aerial vehicle or the unmanned ship;
VII: and updating the scene state in real time and adjusting the dispatch of the unmanned aerial vehicle or the unmanned boat in real time.
In this embodiment, the system outputs a decision of the coordinated airship based on a Copeland aggregation algorithm, and specifically includes the following steps:
s1, establishing a maneuvering decision set model:
unmanned aerial vehicle: setting the speed K to have 3 states { K,0, -K }, which respectively correspond to the full speed, the medium speed and the slow speed of the unmanned aerial vehicle; the lift force L has 3 states { L, mg, -L }, and respectively corresponds to the ascending, hovering and descending of the unmanned aerial vehicle; the rotation angle omega also has 3 states { omega, 0, -omega }, which respectively correspond to the right turn, the neutral turn and the left turn of the unmanned aerial vehicle; if the control vector W of the unmanned aerial vehicle is [ K, L, ω ], each corresponding unmanned aerial vehicle control vector W has 27 maneuver decisions, thereby forming a maneuver decision set including 27 basic maneuvers;
unmanned ship: the speed K ' is set to have 3 states { K ',0, -K ' }, which respectively correspond to the full speed, the medium speed and the slow speed of the unmanned ship; the corner omega ' also has 3 states { omega ',0, -omega ' }, which respectively correspond to the right turn, the neutral turn and the left turn of the unmanned boat; if the control vector W 'of the unmanned ship is [ K', ω '), each corresponding unmanned ship control vector W' has 9 maneuvering decisions, so that a maneuvering decision set comprising 9 basic maneuvering actions is formed;
s2 determines the merit function:
distance merit function Sr：
In the formula, r is the linear distance between the unmanned aerial vehicle/unmanned ship and the task target (which can be shot by the unmanned aerial vehicle for real-time feedback update), and r isdThe optimal working distance of the unmanned aerial vehicle/unmanned ship is obtained;
speed advantage function Sv：
In the formula, VmaxUpper limit of the speed of the ship/aircraft, VminLower limit of the speed of the aircraft/boat, vpIs the engine/boat speed;
height dominance function Sh：
HFbestFor optimum viewing height, HFAnd HTThe heights of the unmanned aerial vehicle/boat and the task target respectively;
the overall advantage function S is obtained by synthesis:
S＝F(Sr，Sv，Sa，Sh)；
s3 constructs a group utility matrix:
according to the specific application (rescue on water, pollutant tracking, etc.) to track the target TjManeuvering scheme set Y on water surface under action of wind and wave flowjAnd PIManeuvering scheme collection UI＝{aI1,…,aIk,…,aImT is calculated according to the merit functionjAnd PIThe situation assessment matrix of (1):
in the formula
Indicating plane/boat PIBy using a maneuvering scheme aIkTask goal TjUnder the action of wind and wave flow, adopts a motion scheme thetajlA state-of-affairs evaluation value in a state,
can be represented by the formula S ═ F (S)r,Sv,Sa,Sh) The solution is carried out by the following steps,
the larger the size of the tube is,to PIThe more advantageous;
predicting the motion state of the task target according to storm flow data collected by a sensor installed on the unmanned ship in real time to obtain TjAdopting a motion scheme thetajlHas a probability of pi (theta)jl)；
Count this probability into PiFor TjSituation assessment matrix of
Thus, a risk decision matrix is obtained
According to the expected utility maximization criterion, summing every row of the matrix to obtain PiTo UIVarious maneuvering schemes aikExpected utility of
According to desired effect
Size to UISorting is carried out to obtain PiBy TjIs an object pair UIPreference ranking of
According to the permutation and combination, the number t of the detection/rescue targets of p units of the unmanned aerial vehicle/unmanned ship group is p multiplied by t, and a sequencing set is formed
S4 executes a group decision algorithm:
the unmanned aerial vehicle group and the unmanned ship group are respectively used as an execution unit, and each decision member gives t pairs of U by taking t working units as targetsIIn a different order of preference, PiDifferent votes are paid for the t groups in the sorting mode, and the authority given to each decision-making member is equal, namely the total votes of each single unmanned plane or boat are all 1, and the votes are set
Comprises the following steps:
after all preference ranks and the obtained corresponding votes are determined, a Copeland function can be applied to aggregate, and a Copeland function value calculation formula is as follows:
fCp(aik)＝N{a：a∈Uiand a isik＞Ga}-N{a：a∈UiAnd a >)Gaik}；
Wherein N { a: a ∈ UiAnd a isik＞Ga } represents aikU capable of being integrally superior to U according to the majority principleiNumber of active scenarios, N { a: a ∈ UiAnd a >)GaikDenotes UiThe medium-energy over-half principle is better than aikNumber of manoeuvres of (f)Cp(aik) Then represents aikComparing the quality with other maneuvering schemes one by one; f. ofCpThe maneuvering scheme with the maximum value is the decision result of the unmanned aerial vehicle or the boat group; and (4) the step S3 and the step S4 are repeatedly executed to complete the automatic cooperative control of the unmanned aerial vehicle and the boat group.
It should be noted that the thickness of the workbench meets the bearing requirement according to the corresponding specification, and the value is d; according to the size of the selected unmanned ship or unmanned plane and the maximum requirement and working performance requirement of the application scene, the number and the number of the unmanned ships and the unmanned ships are determinedType, drone. Suppose the number of drones is m1×m2Dimension a1×b1The number of the unmanned boats is n1×n2Dimension a2×b2Dimension of service aisle c1×c2(or the reserved space of the corresponding necessary equipment) so that the bottom dimension a × B of the rectangular platform is determined by the following formula:
A1＝m1a1+(m1-1)Δa1+2Δa1+c1
A1＝m1a1+(m1-1)Δa1+2Δa1+c1
A2＝n1a2+(n1-1)Δa2+2Δa2+c1
B1＝m2b1+(m2-1)Δb1+2Δbi+c2
B2＝n2b1+(n2-1)Δb2+2Δb2+c2
A＝{max(A1，A2)}
B＝{max(B1，B2)}；
in the formula: Δ a1、Δa2Respectively, the length of the parking margin interval between unmanned aerial vehicle and unmanned ship, Delta b1、Δb2Respectively, the parking margin interval width, delta a ', between unmanned aerial vehicle and unmanned ship'1、Δa′2Length of parking allowance interval, delta b ', between unmanned aerial vehicle and unmanned ship and wall (or necessary equipment), respectively'1、Δb′2The parking margin interval widths of the unmanned aerial vehicle and the unmanned ship and the wall (or necessary equipment) are respectively, and specific values are specified in corresponding specifications (unit: m).
It is further noted that when the unmanned boat is in a stationary state within the unmanned boat platform, n1The beams are arranged on the electric track, and each beam moving mechanism can suspend n2The number of the unmanned boats which can be suspended is N＝n1n2And (4) respectively. To ensure that the most marginal beam can move to the centerline position by compressing the spacing, the formula is satisfied:
wherein b is2Width of unmanned boat,. DELTA.bminThe distance width when the beam distance is contracted to the minimum is shown, and B is the internal width of the platform; and when in a fixed state, the space widths delta b and delta a between the unmanned boats satisfy the following formulas:
b2n1+Δb(n1+1)＜B
n2a2+(n2+1)Δa＜A；
wherein a is2The length of the unmanned boat is shown, and A is the internal length of the platform; the centroid of the bottom of the platform is that the opening and closing type gate is rectangular, the length is x, the width is y, the centroid of the gate is coincident with the centroid of the gate, at least one unmanned boat can be allowed to enter and exit, namely x is more than a1，y＞b2(ii) a The tightest arrangement that can work properly is when all beams are brought to the same side and meet the minimum spacing.
Laying unmanned boats: 1. the control device controls the electric rail to move, so that the cross beams can finish moving, the distance between the cross beams is shortened, and the cross beams where the unmanned boat to be distributed is located move to the center line position of the platform; 2. then the hinge mechanism for hanging the unmanned ship moves on the truss, and the center of the unmanned ship to be laid is aligned to the 0 point; 3. stably lowering the hinge, moving the unmanned boat to the position of the water surface, and withdrawing the hinge; 4. and if continuous laying is required, repeating the steps 2 and 3 after the unmanned ship is determined to be driven out.
And (3) recovering the unmanned ship: 1. when the control device receives a signal that the unmanned boat returns to the position below the automatic opening and closing gate, the automatic opening and closing gate is controlled to be opened; 2. all the cross beams integrally move on the electric track, and the mutual distance is contracted, so that the cross beams with empty positions capable of receiving the unmanned boat move to the position of the center line of the platform; 3. stably lowering the hinge, fixing the clamp with a buckle on the unmanned boat, and checking that the connection is normal; 4. and the hinge is contracted, the unmanned boat is collected into the unmanned boat working platform, and then the chain for suspending the unmanned boat moves on the cross beam and preferentially moves to the vacant positions on the cross beam close to the two ends.
When a user uses the unmanned boat-machine cluster automatic multi-scene collaborative platform and the system, the system carries out dynamic modeling evaluation on the unmanned boat or the multi-scene of the unmanned boat during the operation of the unmanned aerial vehicle, establishes an unmanned boat group or unmanned boat group utility matrix according to the actual application scene, and aggregates the unmanned boat group or unmanned boat group; then determining an optimal scheme for outputting unmanned aerial vehicle or unmanned ship cooperation; at the moment, the system sends a communication signal to the communication control device or the control device to dispatch the unmanned aerial vehicle or the unmanned boat.
Control of the unmanned aerial vehicle: the system sends a communication signal for allocating tasks to the communication control device, and the communication control device sends a signal to the control system of the automatic skylight mechanism, so that the driving mechanism provides power for the translational connecting structure and opens the skylight assembly, at the moment, the unmanned aerial vehicle can fly out of the parking platform, and then the driving mechanism closes the skylight assembly again; when the unmanned aerial vehicle is recovered, the system also sends a communication signal to the communication control device, then the automatic skylight mechanism is opened according to the same principle, and the unmanned aerial vehicle is closed again after all the unmanned aerial vehicle enters the parking platform.
Control of the unmanned boat: the system sends a communication signal for allocating tasks to the control device, the control device controls the automatic opening and closing gate to be opened, then the control device controls the electric track to enable the beam to move, the unmanned ship to be required is moved to the middle, the control device controls the motor on the hinge mechanism to rotate forwards, the hinge is lowered, the clamp lowers the unmanned ship into water, then the motor is controlled to rotate backwards, and the hinge is retracted; when the unmanned ship is recovered, in the same way, after the automatic opening and closing gate is opened, the hinge mechanism is lowered, the clamp clamps the unmanned ship, and the hinge mechanism is recovered; treat that whole unmanned aerial vehicle enters park the space after, the gate that opens and shuts automatically is closed.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (9)
1. The unmanned ship-airplane cluster automatic multi-scene collaborative platform and the system comprise a plurality of unmanned planes and a plurality of unmanned ships, and are characterized by comprising a working platform (1) and a supporting structure (2) arranged at the bottom of the working platform (1); the working platform (1) comprises an unmanned aerial vehicle platform (3) and an unmanned ship platform (4) which are connected up and down, the unmanned aerial vehicle platform (3) comprises a parking platform (5), a communication control device and a first energy supply device which are arranged in the parking platform (5), and an automatic skylight mechanism (6) is arranged at the top of the parking platform (5); the communication control device is in communication connection with the unmanned aerial vehicle, the first energy supply device and the automatic skylight mechanism (6) respectively; the unmanned ship platform (4) comprises a parking space (7) and an automatic opening and closing gate arranged at the bottom of the parking space (7), the top of the parking space (7) is also provided with a control device, a second energy supply device, a beam moving mechanism (8) and a drying system, and the beam moving mechanism (8) is also provided with a hinge mechanism (9); the control device is respectively in communication connection with the unmanned boat, the second energy supply device, the beam moving mechanism (8), the drying system and the hinge mechanism (9); the communication control device and the control device can receive a communication signal of a task allocation sent by the system.
2. The unmanned boat-airplane cluster automatic multi-scenario cooperative platform and system according to claim 1, wherein the automatic skylight mechanism (6) comprises a driving mechanism, a control system, a switch and a skylight assembly (61), and the skylight assembly is connected with the parking platform (5) in a sliding manner; the control system is respectively in communication connection with the switch, the driving mechanism and the communication control system, and the driving mechanism enables the skylight assembly to be opened and closed in a sliding mode.
3. The unmanned boat-machine cluster automatic multi-scene collaborative platform and system according to claim 2, wherein the skylight assembly (61) comprises a translational connecting mechanism and two rectangular skylights, the skylights are connected with the parking platform (5) through the translational connecting mechanism, the driving mechanism is embedded into the translational connecting mechanism, and silica gel strips are arranged at the joints of the skylights; the surface in skylight still is provided with solar panel (11), solar panel (11) with first energy supply device electric connection.
4. The unmanned boat-machine cluster automatic multi-scene collaborative platform and system according to claim 1, wherein the beam moving mechanism (8) comprises a beam (81) and an electric rail (82), the electric rail (82) is arranged on the top of the parking space (7), the beam (81) is connected with a hinge mechanism (9), and the electric rail (82) is in communication connection with the control device.
5. The unmanned boat-machine cluster automatic multi-scene collaborative platform and system according to claim 1, wherein an unmanned aerial vehicle charging interface is arranged on the first energy supply device; the second energy supply device is provided with an unmanned boat charging interface; the drying system is used for drying the unmanned ship.
6. The unmanned boat-machine cluster automatic multi-scene cooperative platform and system according to claim 1, wherein the hinge mechanism (9) comprises a motor and a hinge (91), one end of the hinge (91) is connected with the motor, and the other end is connected with a clamp (92); the clamp (92) is an openable ring, and the clamp (92) and the motor are respectively in communication connection with the control device.
7. The unmanned boat-machine cluster automatic multi-scene cooperative platform and system according to claim 1, wherein the periphery of the supporting structure (2) is provided with spiral steps (21) and handrails (22), and the outer parts of the handrails (22) are provided with rubber protective layers.
8. The unmanned boat-airplane cluster automatic multi-scenario collaboration platform and system according to any one of claims 1-7, wherein the system specifically operates the steps of:
i: performing dynamic modeling evaluation on the unmanned ship or unmanned aerial vehicle operation multi-scene;
II: evaluating and analyzing the situation of an application scene;
III: establishing a utility matrix of the unmanned aerial vehicle cluster or the unmanned ship cluster, and clustering the unmanned aerial vehicle cluster or the unmanned ship cluster;
IV: deciding to output an optimal scheme for cooperation of the unmanned aerial vehicle or the unmanned ship;
v: the system sends a communication signal to a communication control device or a control device to dispatch the unmanned aerial vehicle or the unmanned ship;
VII: and updating the scene state in real time and adjusting the dispatch of the unmanned aerial vehicle or the unmanned boat in real time.
9. The unmanned boat-machine cluster automatic multi-scene collaborative platform and system according to claim 8, wherein the system is based on collaborative airship decision output of Copeland aggregation algorithm, and comprises the following steps:
s1, establishing a maneuvering decision set model:
unmanned aerial vehicle: setting the speed K to have 3 states { K,0, -K }, which respectively correspond to the full speed, the medium speed and the slow speed of the unmanned aerial vehicle; the lift force L has 3 states { L, mg, -L }, and respectively corresponds to the ascending, hovering and descending of the unmanned aerial vehicle; the rotation angle omega also has 3 states { omega, 0, -omega }, which respectively correspond to the right turn, the neutral turn and the left turn of the unmanned aerial vehicle; if the control vector W of the unmanned aerial vehicle is [ K, L, ω ], each corresponding unmanned aerial vehicle control vector W has 27 maneuver decisions, thereby forming a maneuver decision set including 27 basic maneuvers;
unmanned ship: the speed K ' is set to have 3 states { K ',0, -K ' }, which respectively correspond to the full speed, the medium speed and the slow speed of the unmanned ship; the corner omega ' also has 3 states { omega ',0, -omega ' }, which respectively correspond to the right turn, the neutral turn and the left turn of the unmanned boat; if the control vector W 'of the unmanned ship is [ K', ω '), each corresponding unmanned ship control vector W' has 9 maneuvering decisions, so that a maneuvering decision set comprising 9 basic maneuvering actions is formed;
s2 determines the merit function:
distance merit function Sr：
In the formula, r is a linear distance between the unmanned aerial vehicle/unmanned ship and a task target, and rd is an optimal operation distance of the unmanned aerial vehicle/unmanned ship;
speed advantage function Sv：
In the formula, VmaxUpper limit of the speed of the ship/aircraft, VminLower limit of the speed of the aircraft/boat, vpIs the engine/boat speed;
height dominance function Sh：
HFbestFor optimum viewing height, HFAnd HTThe heights of the unmanned aerial vehicle/boat and the task target respectively;
the overall advantage function S is obtained by synthesis:
S＝F(Sr，Sv，Sa，Sh)；
s3 constructs a group utility matrix:
according to the specific application scenario, to track the target TjManeuvering scheme set Y on water surface under action of wind and wave flowjAnd PIManeuvering scheme collection UI＝{aI1,…，aIk,…，aImT is calculated according to the merit functionjAnd PIThe situation assessment matrix of (1):
in the formula
Indicating plane/boat PIBy using a maneuvering scheme aIkTask goal TjUnder the action of wind and wave flow, adopts a motion scheme thetajlA state-of-affairs evaluation value in a state,
can be represented by the formula S ═ F (S)r,Sv，Sa，Sh) The solution is carried out by the following steps,
the larger, the pair PIThe more advantageous;
predicting the motion state of the task target according to storm flow data collected by a sensor installed on the unmanned ship in real time to obtain TjAdopting a motion scheme thetajlHas a probability of pi (theta)jl)；
Count this probability into PiFor TjSituation assessment matrix of
Thus, a risk decision matrix is obtained
According to the expected utility maximization criterion, summing every row of the matrix to obtain PiTo UIVarious maneuvering schemes aikExpected utility of
According to desired effect
Size to UISorting is carried out to obtain PiBy TjIs an object pair UIPreference ranking of
According to the permutation and combination, the number t of the detection/rescue targets of p units of the unmanned aerial vehicle/unmanned ship group is p multiplied by t, and a sequencing set is formed
S4 executes a group decision algorithm:
the unmanned aerial vehicle group and the unmanned ship group are respectively used as an execution unit, and each decision member gives t pairs of U by taking t working units as targetsIIn a different order of preference, PiDifferent votes are paid for the t groups in the sorting mode, and the authority given to each decision-making member is equal, namely the total votes of each single unmanned plane or boat are all 1, and the votes are set
Comprises the following steps:
after all preference sequences and the obtained corresponding votes are determined, a Copeland function can be applied to aggregation; the Copeland function value calculation formula is as follows:
fCp(aik)＝N{a：a∈Uiand a isik＞Ga}-N{a：a∈UiAnd a >)Gaik}；
In the formula, N { a: a is an element of UiAnd a isik＞Ga } representsakU capable of being integrally superior to U according to the majority principleiNumber of middle motor schemes, N { a: a is an element of UiAnd a >)GaikDenotes UiThe medium-energy over-half principle is better than aikNumber of manoeuvres of (f)Cp(aik) Then represents aikComparing the quality with other maneuvering schemes one by one; f. ofCpThe maneuvering scheme with the maximum value is the decision result of the unmanned aerial vehicle or the boat group; and (4) the step S3 and the step S4 are repeatedly executed to complete the automatic cooperative control of the unmanned aerial vehicle and the boat group.
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