CN115390919A - Method for controlling multiple unmanned platforms by single control end - Google Patents

Method for controlling multiple unmanned platforms by single control end Download PDF

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Publication number
CN115390919A
CN115390919A CN202210805449.XA CN202210805449A CN115390919A CN 115390919 A CN115390919 A CN 115390919A CN 202210805449 A CN202210805449 A CN 202210805449A CN 115390919 A CN115390919 A CN 115390919A
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China
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control
state
command
value
platform
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CN202210805449.XA
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Inventor
蓝伟
苏波
何亚丽
郭江华
赵君瑞
银丹
赵洪雷
熊巍
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China North Vehicle Research Institute
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China North Vehicle Research Institute
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Priority to CN202210805449.XA priority Critical patent/CN115390919A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
    • G06F9/30003—Arrangements for executing specific machine instructions
    • G06F9/30076—Arrangements for executing specific machine instructions to perform miscellaneous control operations, e.g. NOP
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Engineering & Computer Science (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The invention provides a method for controlling a plurality of unmanned platforms by a single control end, which can realize that the single control end controls the plurality of unmanned platforms, so that each platform can control and display information in real time, and platforms with display priorities of special tasks, faults and the like have priority display control capability. The system comprises an operation terminal information display method and a control instruction generation method, wherein the operation terminal display method and the instruction analysis method are integrated, so that a single operation person can control a plurality of unmanned platforms, the single operation terminal can comprehensively display the information of the plurality of unmanned platforms, and an unmanned platform operation instruction generation mechanism based on state information is realized.

Description

Method for controlling multiple unmanned platforms by single control end
Technical Field
The invention relates to the technical field of ground unmanned platforms, in particular to a method for operating a plurality of unmanned platforms by a single operating terminal.
Background
When the ground unmanned platform is remotely controlled, the ground unmanned platform is generally controlled by a corresponding portable control end or remote control end, and one portable control end or remote control end can only correspond to one specific unmanned platform, or the control of one control end on a plurality of unmanned platforms is realized by a time-sharing control method. With the development of unmanned platform technology, the autonomous ability of the unmanned platforms is further improved, and the number of the unmanned platforms is gradually increased. Under the circumstance, the technical mode of controlling a single unmanned platform through a single control end is increasingly unable to meet the development requirement, and the single control end cannot control a plurality of unmanned platforms.
Disclosure of Invention
In view of this, the invention provides a method for controlling a plurality of unmanned platforms by a single control end, which can realize that the single control end controls the plurality of unmanned platforms, so that each platform can control and display information in real time, and platforms with display priorities such as special tasks and faults have a priority display control capability.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention relates to a method for controlling a plurality of unmanned platforms by a single control end, which comprises a control end information display method and a control instruction generation method; the information display method of the control terminal comprises platform information query, state value analysis, priority judgment, control strategy selection and display strategy selection; the control end instruction generating method is characterized in that a control instruction becomes a sending instruction through an instruction analyzing method; specifically, the platform state value analysis of the control end is based on the feedback information of each platform, the priority judgment is based on the platform state value analysis, the control strategy selection is based on the priority judgment, and the display strategy selection is based on the control strategy; before the control command of the control end becomes a sending command, the control end needs to judge the information of synchronous group control, asynchronous group control and the like of the control end and update the corresponding command, so that the control command can become the sending command.
And the platform state information is inquired by timing feedback of each unmanned platform or by sending an instruction mode by the control end.
The specific mode of state value analysis is as follows: the control end analyzes the state of each platform according to the received platform feedback information, and the method comprises the following steps: firstly, setting a normal range, an alarm range, a fault range and state values of all ranges of all feedback values, wherein the setting principle of the state values is that the state value of the normal range is smaller than the state value of the alarm range, and the state value of the alarm range is smaller than the state value of the fault range; setting the weight coefficient of each feedback value, wherein the setting principle of the weight coefficient is that the more important the feedback value is, the larger the weight coefficient is; the product of the weight coefficient and the state value is the weight value of the feedback value; after a feedback value of the parameter of the platform is obtained, a state value of the feedback value is obtained by judging the range interval of the value, and then the value is multiplied by a weight coefficient to obtain a weight value of the value; and the final platform state value is an accumulated value of the weight values.
The priority determination method specifically comprises the following steps: after the control end completes the state analysis, obtaining each platform value; in the priority analysis, the platforms with the largest platform values have the highest priority by sequencing the platform values from large to small.
The display strategy selection mode is as follows: the platform with the highest priority has the largest display right and has the highest priority when the control end displays images and state information.
The method for generating the control end instruction comprises the following specific implementation steps:
step 21, acquiring a control instruction of the control end including speed and curvature information;
step 22, judging whether the command of the control end is in a remote control state or an autonomous state, if so, entering step 23, and otherwise, judging whether the command is in the autonomous state; if the command is in the autonomous state, entering the step 3, otherwise, judging the command to be an invalid command;
step 23, superposing a state bit whether the state bit is remote control or autonomous or not at the rear part of the obtained instruction;
step 24, judging whether the control end is in a synchronous control state, an asynchronous control state or a single control state; if the command belongs to one of synchronous control, asynchronous control or single control, entering step 25, otherwise, judging the command to be an invalid command;
step 25, continuously superposing synchronous, asynchronous and monomer control status bits at the rear part of the instruction;
step 26, if the control is synchronous control, respectively sending the control instruction into a group control instruction channel; if the control command is asynchronous or monomer control, the control command is respectively sent to a monomer control command channel.
Has the beneficial effects that:
1. the method for controlling the plurality of unmanned platforms by the single control end comprises a control end information display method and a control instruction generation method, and the control of a single control person on the plurality of unmanned platforms, the comprehensive display of the information of the plurality of unmanned platforms by the single control end and an unmanned platform control instruction generation mechanism based on state information are realized by integrating the control end display method and the instruction analysis method, so that the remote control of the plurality of unmanned platforms by the single control end is realized by the unmanned platform state analysis, the platform state priority judgment, the control strategy selection, the display strategy selection and the like, the control intensity of the control person is reduced, and the remote monitoring capability of the unmanned platforms is improved.
2. The method for displaying the information of the control terminal comprises the steps of platform information query, state value analysis, priority judgment, control strategy selection, display strategy selection and the like, wherein the platform state information query can be fed back by each unmanned platform at regular time, and can also be queried in a mode of sending an instruction by the control terminal, so that the query mode is flexible and the applicability is wide.
3. In the command generating method of the control terminal, the control command becomes a sending command through a command analyzing method, and the sending command can be used for wireless connection between the control terminal and the unmanned platform and can also be used for wired connection between the control terminal and the unmanned platform.
Drawings
Fig. 1 is a schematic diagram of a method for displaying information of a manipulation terminal according to the present invention.
Fig. 2 is a schematic diagram of a method for generating commands at a console end according to 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 method for controlling a plurality of unmanned platforms by a single control end, which realizes the control of the plurality of unmanned platforms by one control end. The method for displaying the information of the control terminal comprises the steps of platform information inquiry, state value analysis, priority judgment, control strategy selection, display strategy selection and the like. Specifically, the control end analyzes the platform state values based on feedback information of each platform, the priority judgment is based on the platform state value analysis, the control strategy selection is based on the priority judgment, and the display strategy selection is based on the control strategy. The command generation method of the control end is characterized in that a control command becomes a sending command through a command analysis method. Specifically, before the control command of the control end becomes the sending command, the control end needs to judge information such as synchronous group control and asynchronous group control of the control end and update the corresponding command, so that the control command can become the sending command.
The method for displaying the information of the control end is shown in fig. 1, and comprises the following specific implementation steps:
step 1, the control end inquires platform information. The platform state information query can be fed back by each unmanned platform at regular time, and can also be queried by an instruction mode sent by the control terminal.
And 2, analyzing the state value. And analyzing the state of each platform by the control end according to the received platform feedback information. The analysis method comprises the steps of firstly setting a normal range, an alarm range, a fault range and state values of all ranges of all feedback values, wherein the state values are set in a mode that the state values of the normal range are smaller than the state values of the alarm range, and the state values of the alarm range are smaller than the state values of the fault range; and then setting the weight coefficient of each feedback value, wherein the more important the feedback value is, the larger the weight coefficient is. The product of the weight coefficient and the state value is the weight value of the feedback value. After the feedback value of the parameter of the platform is obtained, the state value of the feedback value is obtained by judging the range interval of the value, and then the value is multiplied by the weight coefficient to obtain the weight value of the value. And the final platform state value is an accumulated value of the weight values.
And 3, judging the priority. And the control end obtains each platform value after completing the state analysis. In the priority analysis, the platforms with the largest platform values have the highest priority by sequencing the platform values from large to small.
And 4, displaying the strategy selection. The platform with the highest priority has the largest display right and has the highest priority when the control end displays images and state information.
The method for generating the command of the control end of the invention is shown in fig. 2, and the specific implementation steps are as follows:
step 21, acquiring a control instruction of the control end containing information such as speed, curvature and the like;
step 22, judging whether the command of the control end is in a remote control state or an autonomous state, if so, entering step 23, otherwise, judging whether the command is in the autonomous state; if the instruction is in the autonomous state, entering step 3, otherwise, judging the instruction to be an invalid instruction.
Step 23, superposing a state bit whether the state bit is remote control or autonomous or not on the rear part of the acquired instruction;
and 24, judging whether the control end is in a synchronous control state, an asynchronous control state or a single control state. If the command belongs to one of synchronous control, asynchronous control or single control, the step 25 is entered, otherwise, the command is judged to be an invalid command.
And step 25, continuously superposing the synchronous, asynchronous and single control state bits at the rear part of the instruction.
Step 26, if the control is synchronous control, respectively sending the control instruction into a group control instruction channel; if the control command is asynchronous or monomer control, the control command is respectively sent to a monomer control command channel.
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 method for controlling a plurality of unmanned platforms by a single control end is characterized by comprising a control end information display method and a control instruction generation method; the information display method of the control terminal comprises platform information query, state value analysis, priority judgment, control strategy selection and display strategy selection; the control end instruction generating method is characterized in that a control instruction becomes a sending instruction through an instruction analyzing method; specifically, the platform state value analysis of the control end is based on the feedback information of each platform, the priority judgment is based on the platform state value analysis, the control strategy selection is based on the priority judgment, and the display strategy selection is based on the control strategy; before the control command of the control end becomes a sending command, the control end needs to judge the information of synchronous group control, asynchronous group control and the like of the control end and update the corresponding command, so that the control command can become the sending command.
2. The method of claim 1, wherein the platform state information query is periodically fed back by each unmanned platform or queried by a command mode sent by a control terminal.
3. The method of claim 2, wherein the state value analysis is performed by: the control end analyzes the state of each platform according to the received platform feedback information, and the method comprises the following steps: firstly, setting a normal range, an alarm range, a fault range and state values of each range of each feedback value, wherein the setting principle of the state values is that the state value of the normal range is smaller than the state value of the alarm range, and the state value of the alarm range is smaller than the state value of the fault range; setting the weight coefficient of each feedback value, wherein the more important the feedback value is, the larger the weight coefficient is; the product of the weight coefficient and the state value is the weight value of the feedback value; after a feedback value of the parameter of the platform is obtained, a state value of the feedback value is obtained by judging the range interval of the value, and then the value is multiplied by a weight coefficient to obtain a weight value of the value; and the final platform state value is an accumulated value of the weight values.
4. The method as claimed in claim 3, wherein the priority determination is performed by: after the control end completes the state analysis, obtaining each platform value; in the priority analysis, the platforms with the largest platform values have the highest priority by sequencing the platform values from large to small.
5. The method of claim 4, wherein the display policy selection is by: the platform with the highest priority has the largest display right and has the highest priority when the control end displays images and state information.
6. The method according to any one of claims 1 to 5, wherein the method for generating the command at the control end comprises the following steps:
step 21, acquiring a control instruction of the control end including speed and curvature information;
step 22, judging whether the command of the control end is in a remote control state or an autonomous state, if so, entering step 23, and otherwise, judging whether the command is in the autonomous state; if the command is in the autonomous state, entering the step 3, otherwise, judging the command to be an invalid command;
step 23, superposing a state bit whether the state bit is remote control or autonomous or not at the rear part of the obtained instruction;
step 24, judging whether the control end is in a synchronous control state, an asynchronous control state or a single control state; if the command belongs to one of synchronous control, asynchronous control or single control, entering the step 25, otherwise, judging the command to be an invalid command;
step 25, continuously superposing synchronous, asynchronous and monomer control status bits at the rear part of the instruction;
step 26, if the control is synchronous control, respectively sending the control instruction into a group control instruction channel; if the control command is asynchronous or monomer control, the control command is respectively sent to a monomer control command channel.
CN202210805449.XA 2022-07-08 2022-07-08 Method for controlling multiple unmanned platforms by single control end Pending CN115390919A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210805449.XA CN115390919A (en) 2022-07-08 2022-07-08 Method for controlling multiple unmanned platforms by single control end

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210805449.XA CN115390919A (en) 2022-07-08 2022-07-08 Method for controlling multiple unmanned platforms by single control end

Publications (1)

Publication Number Publication Date
CN115390919A true CN115390919A (en) 2022-11-25

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