CN115826478B - Unmanned aerial vehicle cluster command control system and control method - Google Patents
Unmanned aerial vehicle cluster command control system and control method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle cluster command control system and a control method, wherein the unmanned aerial vehicle cluster command control system comprises 1 group of emission monitoring seats, 2 groups of more than one cluster comprehensive monitoring seats, 1 group of networking link monitoring seats, three networks, an emission control link, a networking link ground terminal and a networking link airborne terminal; the three networks comprise a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network. According to the invention, the emission monitoring and the cluster monitoring of the clustered unmanned aerial vehicle are integrated into a command control system, so that the problem that information cannot be transmitted through an unmanned aerial vehicle networking data link due to the shielding inside the emission unit is solved; meanwhile, more than 2 integrated cluster monitoring seats are adopted for cluster monitoring according to the flexible, changeable and combined use characteristics of the cluster unmanned aerial vehicle, so that the stability and safety of the control right handover of the cluster unmanned aerial vehicle can be ensured.
Description
Technical Field
The invention relates to the technical field of clustered unmanned aerial vehicles, in particular to an unmanned aerial vehicle clustered command control system and a control method.
Background
With the rapid development of the unmanned aerial vehicle technology, the application of the unmanned aerial vehicle in tasks is widely focused and studied. The cluster unmanned aerial vehicle is rapidly developed towards flexible deployment and maneuvering use. The ground emission of the clustered unmanned aerial vehicle is widely used as a main form of play.
The cluster unmanned aerial vehicle loads in transmitting unit before the transmission, because transmitting unit intensive arrangement has produced unmanned aerial vehicle networking signal transmission and has sheltered from and the position problem, leads to partial unmanned aerial vehicle's networking link signal unable to transmit out, has brought inconvenience for the cluster unmanned aerial vehicle state control before the transmission.
Meanwhile, in the command control system of the cluster unmanned aerial vehicle, a centralized control mode is generally adopted, namely one control seat is used for controlling all the cluster unmanned aerial vehicles, and the control mode cannot meet the changing requirements of the cluster unmanned aerial vehicles in future tasks. In the process of executing certain tasks, the unmanned aerial vehicle cluster needs to carry out various dynamic grouping allocation under the condition of manual assistance so as to adapt to different task demands. How to ensure safe and efficient control right distribution under the condition of manual auxiliary control of the ground of the clustered unmanned aerial vehicle, and more flexibly complete cooperative control are key points for research and breakthrough.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle cluster command control system and a control method, which are used for solving the problems.
The invention provides an unmanned aerial vehicle cluster command control system, which comprises 1 group of emission monitoring seats, 2 groups of integrated monitoring seats of more than 2 groups of clusters, 1 group of networking link monitoring seats, three networks, an emission control link, a networking link ground terminal and a networking link airborne terminal; the three networks comprise a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network;
the emission monitoring seat, the cluster comprehensive monitoring seat and the networking link monitoring seat are all linked with a three-network;
the emission monitoring seat is operated with emission monitoring software and is linked with a plurality of emission units through an emission control link; the transmitting unit is used for loading and transmitting the cluster unmanned aerial vehicle;
the integrated cluster monitoring seat is operated with integrated cluster monitoring software, on one hand, a plurality of transmitting units are linked through a transmitting control link, and on the other hand, the integrated cluster monitoring seat is linked to a networking link airborne terminal loaded on the clustered unmanned aerial vehicle through a networking link ground terminal and a networking link;
the networking link monitoring seat is operated with networking link monitoring software, on one hand, a plurality of transmitting units are linked through a transmitting control link, and on the other hand, the networking link monitoring seat is linked to a networking link airborne terminal loaded on the cluster unmanned aerial vehicle through a networking link ground terminal and a networking link; and the networking link monitoring seat also operates data forwarding software and is connected with the user terminal through an external interactive network.
Further, the control method adopting the unmanned aerial vehicle cluster command control system comprises the following steps:
transmitting monitoring software is operated in the transmitting monitoring seat, and state monitoring and control of the transmitting unit and state monitoring of the clustered unmanned aerial vehicle in the transmitting unit are realized through a transmitting control link;
running cluster comprehensive monitoring software in a cluster comprehensive monitoring seat, and realizing task planning uploading of a cluster unmanned aerial vehicle in a transmitting unit, information monitoring of the cluster unmanned aerial vehicle and instruction control of the cluster unmanned aerial vehicle through a transmitting control link; the cluster unmanned aerial vehicle is controlled through the networking link ground terminal, so that the state monitoring of the air cluster unmanned aerial vehicle is realized, and the transmission of single-machine control instructions, cluster control instructions, single-machine task planning instructions and cluster task planning instructions to the air cluster unmanned aerial vehicle is completed; wherein, 2 or more than 2 clusters comprehensive monitoring seats are provided with priorities and work according to the priorities;
on one hand, the state monitoring and control of the emission control link and the networking link ground terminal are realized, and the state monitoring and control of the networking link airborne terminal loaded on the cluster unmanned aerial vehicle and the air cluster unmanned aerial vehicle in all the emission units are completed through the networking link; and on the other hand, running data forwarding software, and forwarding the information of the clustered unmanned aerial vehicle to the outside through an external interactive network.
Further, in the implementation of the state monitoring and control of the transmitting unit and the state monitoring of the clustered unmanned aerial vehicle in the transmitting unit through the transmitting control link, the transmitting control link transmits:
transmitting unit instructions and transmitting unit information; the transmitting unit instruction comprises a transmitting instruction, a terminating instruction and a suspending instruction;
and transmitting the cluster unmanned aerial vehicle instruction and the cluster unmanned aerial vehicle information in the unit.
Further, in the state monitoring and control of the networking link airborne terminals loaded on the clustered unmanned aerial vehicle and the air clustered unmanned aerial vehicle in all the transmitting units through the networking link, the networking link can transmit the clustered unmanned aerial vehicle instruction and the clustered unmanned aerial vehicle information.
Further, the clustered unmanned aerial vehicle instructions comprise a single machine control instruction, a clustered control instruction, a single machine task plan and a clustered task plan; the cluster unmanned aerial vehicle information comprises unmanned aerial vehicle numbers, unmanned aerial vehicle single machine state information, unmanned aerial vehicle cluster state information and unmanned aerial vehicle loading information.
Further, the cluster comprehensive monitoring software can dynamically display the accessed unmanned aerial vehicle information according to the accessed unmanned aerial vehicle number and dynamically generate a corresponding control interface.
Further, the priority of the integrated monitoring seat of the cluster is set as follows:
the cluster comprehensive monitoring seats are sequentially configured according to the serial numbers, and the priority of the cluster comprehensive monitoring seats are sequentially arranged from small serial numbers to large serial numbers.
Further, the transmission and operation modes of the single machine control instruction and the single machine task planning instruction are as follows:
the cluster comprehensive monitoring seat sends a single control instruction or a single task planning instruction, the instruction information of the single control instruction and the single task planning instruction contains the number of the controlled unmanned aerial vehicle, the cluster unmanned aerial vehicle receives the single control instruction or the single task planning instruction, judges whether the single control instruction or the single task planning instruction is consistent with the number of the unmanned aerial vehicle, and responds to the single control instruction or the single task planning instruction if the single control instruction or the single task planning instruction is consistent with the number of the unmanned aerial vehicle.
Further, the transmission and operation modes of the cluster control instruction and the cluster task planning instruction are as follows:
the cluster comprehensive monitoring seat sends a cluster control instruction and a cluster task planning instruction, the instruction information of the cluster control instruction and the cluster task planning instruction has a formation number, the cluster unmanned aerial vehicle receives the cluster control instruction or the cluster task planning instruction, judges whether the cluster control instruction or the cluster task planning instruction is consistent with the formation number of the unmanned aerial vehicle, and responds to the cluster control instruction or the cluster task planning instruction if the cluster control instruction or the cluster task planning instruction is consistent with the formation number of the unmanned aerial vehicle.
Further, in the single machine control instruction, the single machine task planning instruction, the cluster control instruction and the cluster task planning instruction, the control scheduling mode of the cluster unmanned aerial vehicle is set according to the priority of the cluster comprehensive monitoring seat, wherein the control scheduling mode comprises acquisition of centralized control right, assignment of control right, application of control right, authorization of control right, switching of control right, recovery of control right and automatic switching of control right.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. according to the method, after the densely deployed transmitting units are considered, the unmanned aerial vehicle of the unit part cannot transmit data to the command control system through the networking link due to the deployment mode of the transmitting units, and the transmitting control link is adopted to transmit the clustered unmanned aerial vehicle instruction and clustered unmanned aerial vehicle information. And the normal communication between the clustered unmanned aerial vehicle and the command control system in the transmitting unit is ensured.
2. The invention designs a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network, three networks are physically isolated, each seat is linked with the three networks, and the functional hot backup can be realized. Meanwhile, the transmission monitoring information, the cluster monitoring information and the external interaction information are prevented from mutual crosstalk, and the interaction safety of cluster transmission and cluster monitoring is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle cluster command control system in an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
As shown in fig. 1, the embodiment provides an unmanned aerial vehicle cluster command control system, which comprises 1 group of emission monitoring seats, 2 groups of and more than cluster comprehensive monitoring seats, 1 group of networking link monitoring seats, three networks, emission control links, networking link ground terminals and networking link airborne terminals; the three networks comprise a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network;
the emission monitoring seat, the cluster comprehensive monitoring seat and the networking link monitoring seat are all linked with a three-network;
the emission monitoring seat is operated with emission monitoring software and is linked with a plurality of emission units through an emission control link; the transmitting unit is used for loading and transmitting the cluster unmanned aerial vehicle;
the integrated cluster monitoring seat is operated with integrated cluster monitoring software, on one hand, a plurality of transmitting units are linked through a transmitting control link, and on the other hand, the integrated cluster monitoring seat is linked to a networking link airborne terminal loaded on the clustered unmanned aerial vehicle through a networking link ground terminal and a networking link;
the networking link monitoring seat is operated with networking link monitoring software, on one hand, a plurality of transmitting units are linked through a transmitting control link, and on the other hand, the networking link monitoring seat is linked to a networking link airborne terminal loaded on the cluster unmanned aerial vehicle through a networking link ground terminal and a networking link; and the networking link monitoring seat also operates data forwarding software and is connected with the user terminal through an external interactive network.
According to the working principle of the unmanned aerial vehicle cluster command control system, the unmanned aerial vehicle cluster command control method can be obtained and comprises the following steps:
s1, running emission monitoring software in an emission monitoring seat, and realizing state monitoring and control of an emission unit and state monitoring of a cluster unmanned aerial vehicle in the emission unit through an emission control link; wherein the transmit control link transmits: transmitting unit instructions and transmitting unit information, and a cluster unmanned aerial vehicle instruction and cluster unmanned aerial vehicle information in the transmitting unit; the transmitting unit instruction comprises a transmitting instruction, a termination instruction and a pause instruction;
s2, running cluster comprehensive monitoring software in a cluster comprehensive monitoring seat, and realizing task planning uploading of a cluster unmanned aerial vehicle in a transmitting unit, information monitoring of the cluster unmanned aerial vehicle and instruction control of the cluster unmanned aerial vehicle through a transmitting control link; the cluster unmanned aerial vehicle is controlled through the networking link ground terminal, so that the state monitoring of the air cluster unmanned aerial vehicle is realized, and the transmission of single-machine control instructions, cluster control instructions, single-machine task planning instructions and cluster task planning instructions to the air cluster unmanned aerial vehicle is completed; in this embodiment, the cluster comprehensive monitoring software may dynamically display the accessed unmanned aerial vehicle information according to the accessed unmanned aerial vehicle number, and dynamically generate a corresponding control interface. Further, 2 or more integrated monitoring seats are provided with priorities and work according to the priorities, specifically: the cluster comprehensive monitoring seats are sequentially configured according to the serial numbers, and the priority levels of the cluster comprehensive monitoring seats are sequentially arranged from small serial numbers to large serial numbers;
in the state monitoring and control of the networking link airborne terminals loaded on the clustered unmanned aerial vehicle and the air clustered unmanned aerial vehicle in all the transmitting units through the networking link, the networking link can transmit the clustered unmanned aerial vehicle instruction and clustered unmanned aerial vehicle information; wherein:
the cluster unmanned aerial vehicle instruction comprises a single machine control instruction, a cluster control instruction, a single machine task plan and a cluster task plan;
the cluster unmanned aerial vehicle information comprises unmanned aerial vehicle numbers, unmanned aerial vehicle single machine state information, unmanned aerial vehicle cluster state information and unmanned aerial vehicle loading information.
S3, running networking link monitoring software in a networking link monitoring seat, on one hand, realizing state monitoring and control of a transmission control link and a networking link ground terminal, and completing state monitoring and control of networking link airborne terminals loaded on the trunking unmanned aerial vehicle and the air trunking unmanned aerial vehicle in all transmission units through the networking link; and on the other hand, running data forwarding software, and forwarding the information of the clustered unmanned aerial vehicle to the outside through an external interactive network.
Further, the transmission and operation modes of the single machine control instruction and the single machine task planning instruction and the cluster control instruction and the cluster task planning instruction are as follows:
single machine control instruction and single machine task planning instruction: the cluster comprehensive monitoring seat sends a single control instruction or a single task planning instruction, the instruction information of the single control instruction and the single task planning instruction contains the number of the controlled unmanned aerial vehicle, the cluster unmanned aerial vehicle receives the single control instruction or the single task planning instruction, judges whether the single control instruction or the single task planning instruction is consistent with the number of the unmanned aerial vehicle, and responds to the single control instruction or the single task planning instruction if the single control instruction or the single task planning instruction is consistent with the number of the unmanned aerial vehicle.
Cluster control instructions and cluster task planning instructions: the cluster comprehensive monitoring seat sends a cluster control instruction and a cluster task planning instruction, the instruction information of the cluster control instruction and the cluster task planning instruction has a formation number, the cluster unmanned aerial vehicle receives the cluster control instruction or the cluster task planning instruction, judges whether the cluster control instruction or the cluster task planning instruction is consistent with the formation number of the unmanned aerial vehicle, and responds to the cluster control instruction or the cluster task planning instruction if the cluster control instruction or the cluster task planning instruction is consistent with the formation number of the unmanned aerial vehicle.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The control method of the unmanned aerial vehicle cluster command control system is characterized in that the unmanned aerial vehicle cluster command control system comprises 1 group of emission monitoring seats, 2 groups of and more than cluster comprehensive monitoring seats, 1 group of networking link monitoring seats, three networks, an emission control link, a networking link ground terminal and a networking link airborne terminal; the three networks comprise a transmitting communication network, a cluster comprehensive monitoring network and an external interaction network, and are physically isolated;
the emission monitoring seat, the cluster comprehensive monitoring seat and the networking link monitoring seat are all linked with a three-network;
the emission monitoring seat is operated with emission monitoring software and is linked with a plurality of emission units through an emission control link; the transmitting unit is used for loading and transmitting the cluster unmanned aerial vehicle;
the integrated cluster monitoring seat is operated with integrated cluster monitoring software, on one hand, a plurality of transmitting units are linked through a transmitting control link, and on the other hand, the integrated cluster monitoring seat is linked to a networking link airborne terminal loaded on the clustered unmanned aerial vehicle through a networking link ground terminal and a networking link;
the networking link monitoring seat is operated with networking link monitoring software, on one hand, a plurality of transmitting units are linked through a transmitting control link, and on the other hand, the networking link monitoring seat is linked to a networking link airborne terminal loaded on the cluster unmanned aerial vehicle through a networking link ground terminal and a networking link; the networking link monitoring seat also operates data forwarding software and is connected with a user terminal through an external interactive network;
the control method comprises the following steps:
transmitting monitoring software is operated in the transmitting monitoring seat, and state monitoring and control of the transmitting unit and state monitoring of the clustered unmanned aerial vehicle in the transmitting unit are realized through a transmitting control link;
running cluster comprehensive monitoring software in a cluster comprehensive monitoring seat, and realizing task planning uploading of a cluster unmanned aerial vehicle in a transmitting unit, information monitoring of the cluster unmanned aerial vehicle and instruction control of the cluster unmanned aerial vehicle through a transmitting control link; the cluster unmanned aerial vehicle is controlled through the networking link ground terminal, so that the state monitoring of the air cluster unmanned aerial vehicle is realized, and the transmission of single-machine control instructions, cluster control instructions, single-machine task planning instructions and cluster task planning instructions to the air cluster unmanned aerial vehicle is completed; wherein, 2 or more than 2 clusters comprehensive monitoring seats are provided with priorities and work according to the priorities;
on one hand, the state monitoring and control of the emission control link and the networking link ground terminal are realized, and the state monitoring and control of the networking link airborne terminal loaded on the cluster unmanned aerial vehicle and the air cluster unmanned aerial vehicle in all the emission units are completed through the networking link; on the other hand, running data forwarding software, and forwarding the information of the clustered unmanned aerial vehicle to the outside through an external interactive network;
the priority of the cluster comprehensive monitoring seats is set as follows:
the cluster comprehensive monitoring seats are sequentially configured according to the serial numbers, and the priority levels of the cluster comprehensive monitoring seats are sequentially arranged from small serial numbers to large serial numbers;
the transmission and operation modes of the single machine control instruction and the single machine task planning instruction are as follows: the cluster comprehensive monitoring seat sends a single machine control instruction or a single machine task planning instruction, the instruction information of the single machine control instruction and the single machine task planning instruction contains the number of the controlled unmanned aerial vehicle, the cluster unmanned aerial vehicle receives the single machine control instruction or the single machine task planning instruction, judges whether the single machine control instruction or the single machine task planning instruction is consistent with the number of the unmanned aerial vehicle, and responds to the single machine control instruction or the single machine task planning instruction if the single machine control instruction or the single machine task planning instruction is consistent with the number of the unmanned aerial vehicle;
the transmission and operation modes of the cluster control instruction and the cluster task planning instruction are as follows: the cluster comprehensive monitoring seat sends a cluster control instruction and a cluster task planning instruction, the instruction information of the cluster control instruction and the cluster task planning instruction has a formation number, the cluster unmanned aerial vehicle receives the cluster control instruction or the cluster task planning instruction, judges whether the cluster control instruction or the cluster task planning instruction is consistent with the formation number of the unmanned aerial vehicle, and responds to the cluster control instruction or the cluster task planning instruction if the cluster control instruction or the cluster task planning instruction is consistent with the formation number of the unmanned aerial vehicle.
2. The method according to claim 1, wherein in the implementation of the state monitoring and control of the transmitting unit and the state monitoring of the clustered unmanned aerial vehicle in the transmitting unit by the transmitting control link, the transmitting control link transmits:
transmitting unit instructions and transmitting unit information; the transmitting unit instruction comprises a transmitting instruction, a terminating instruction and a suspending instruction;
and transmitting the cluster unmanned aerial vehicle instruction and the cluster unmanned aerial vehicle information in the unit.
3. The method according to claim 2, wherein the networking link transmits the instruction of the cluster unmanned aerial vehicle and the information of the cluster unmanned aerial vehicle in the state monitoring and control of the on-board terminals of the networking link loaded on the cluster unmanned aerial vehicle and the air cluster unmanned aerial vehicle in all the transmitting units.
4. The control method of the unmanned aerial vehicle cluster command control system according to claim 3, wherein the clustered unmanned aerial vehicle commands comprise a single machine control command, a clustered control command, a single machine task plan and a clustered task plan; the cluster unmanned aerial vehicle information comprises unmanned aerial vehicle numbers, unmanned aerial vehicle single machine state information, unmanned aerial vehicle cluster state information and unmanned aerial vehicle loading information.
5. The control method of the unmanned aerial vehicle cluster command control system according to claim 1, wherein the cluster comprehensive monitoring software can dynamically display the accessed unmanned aerial vehicle information according to the accessed unmanned aerial vehicle number and dynamically generate a corresponding control interface.
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