CN116449874B - Modularized unmanned control refitting kit of piloted plane and construction method - Google Patents
Modularized unmanned control refitting kit of piloted plane and construction method Download PDFInfo
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Abstract
The invention discloses a modularized unmanned control refitting kit and a construction method of a manned aircraft, and relates to the technical field of airplane modularized refitting. According to the invention, the modification thought is changed from modifying equipment adaptation operators to adding intelligent operation kits to equipment, so that the universality is obviously enhanced, and more types of manned operation equipment can be modified into unmanned operation equipment through retraining of an intelligent body and parameter adjustment of each module; the intelligent level of the intelligent body is continuously and iteratively upgraded along with the continuous progress of the artificial intelligent technology; the electrical and mechanical structures of the original equipment are not basically destroyed; and by adopting a generalized and loose coupling design, different machine types can be modified by slightly modifying corresponding modules of the external member.
Description
Technical Field
The invention relates to the technical field of modularized refitting of aircrafts, in particular to a modularized unmanned control refitting kit of a piloted aircraft and a construction method.
Background
Currently, the manned vehicles on the sea, on the land and in the air are still the most mainstream and the most numerous vehicles, and the manned vehicles are always in the process of continuous updating. Some of the replaced manned vehicles have a value, and if the vehicles are idle and even out of order, the vehicles cannot play the roles of the vehicles to generate economic benefits, the maintenance and storage costs of the vehicles are required to be borne, and even the disassembly of the connected vehicles needs to pay a small amount of cost. With the rapid development of unmanned technology, unmanned vehicles are increasingly and widely applied to various fields of production and life, and particularly have irreplaceable value and function in application scenes with high danger to people, such as combat, anti-terrorism, rescue and relief work, highland and other tasks. Therefore, the manned vehicles still having the use value are refitted into unmanned vehicles, and are used for scenes and tasks where the manned vehicles are not suitable to use, and the residual value of the unmanned vehicles is continuously exerted, so that the unmanned vehicles are a way with relatively low cost and can further improve the economic benefit of equipment.
In the field of aircraft refitting, a part of countries and enterprises currently make various attempts to refit a piloted aircraft into an unmanned aircraft. In a civil scene, the 5B transport plane is modified into a fly-98 large-scale logistics unmanned plane by the electronic technology stock limited company and the Shunfeng stock limited company in the aerospace era, and a fly-98 large-scale logistics unmanned plane demonstration flight test based on a logistics operation scene is jointly developed at a certain flight test base in China on the 10 th month and 16 th 2018. And 8 days of 12 months in 2020, carrying the large-scale logistics unmanned aerial vehicle of the Feihong-98 into a front flag of Toke in Huo in Mongolia to hold pilot-type aircraft, and carrying out the 'Ningxia-inner Mongolia' twice cross-provincial flight tasks by the unmanned aerial vehicle according to a preset route for a single day, so that the compliance of the system of the Feihong 98 unmanned aerial vehicle to partial airworthiness standards is preliminarily verified.
In a specific modification mode, the existing unmanned aerial vehicle modification unmanned aerial vehicle needs to modify a fly-by-wire control subsystem, a power supply control subsystem, a power control subsystem, a brake control subsystem and the like, and the military aircraft also comprises a fire control system, a store management system and the like, wherein modification of the fly-by-wire control system is the most core, the most important, the most complex and the highest in cost. The prior old aircraft mainly adopts a mechanical flight control system, so that the electric transformation of the flight control subsystem is needed, the original mechanical operating mechanism is removed, and gear motor driving equipment is additionally arranged. The control moment of the low-speed aircraft is small, an electric steering engine can be directly additionally arranged at a position close to each control surface, the control moment of the high-speed aircraft is large, and each control surface is driven by adopting an electric hydraulic servo mechanism to replace the original mechanical connecting rod type hydraulic power assisting mechanism; then, control law calculation and test are required to be carried out on the modified fly-by-wire control system, the basic steps are theoretical calculation, simulation deduction, assembly test and modification shaping, the process needs a longer period, and the failure probability is higher in the assembly test stage, so that assembly damage is caused. The modification of other subsystems is relatively easy, but most of the subsystems also need to be greatly changed for the original mechanisms and equipment of the aircraft, and related data such as functions, performances, reliability and the like of the subsystems need to be retested and verified after the change. Because of the great modification to each subsystem of the aircraft, the existing modification mode needs to be designed and modified separately for each type of aircraft, and the physical size, aerodynamic characteristics, engine performance and other differences of each type of aircraft can influence the design of the modification scheme.
The defects and drawbacks of the modification mode are as follows:
(1) The universality is poor, all the refitting schemes are aimed at specific types of carriers, the refitting scheme of each specific type of carrier needs to be redesigned and cannot be transplanted to different types, and after the refitting of the specific type of carrier is finished, the refitting scheme and components aimed at the type of carrier lose the value of reutilization;
(2) The modification scheme is complex, the research and development cost is high, the research and development period is long, the modification workload is large, the quick modification and use of the old carriers are not facilitated, the benefits generated by modification investment are limited by the number of the carriers, and when the number of the carriers is small, the research and development cost investment cannot be thinned, and the cost is difficult to convert into effective benefits;
(3) Without intellectualization, the driving control and the task control of the unmanned vehicle after modification still adopt a manual remote operation mode, and each vehicle still needs 1 to 2 operators in use, which is not beneficial to large-scale use;
(4) The refitting work can permanently change the internal structure of each system of the original carrier, and the refitted carrier cannot be restored to a manned state.
Disclosure of Invention
In order to solve the technical problem of the manned aircraft in the modification process, the invention provides a modularized unmanned control modification kit of the manned aircraft and a construction method. The following technical scheme is adopted:
The modularized unmanned control refitting kit of the piloted plane comprises an intelligent body module, a device control module, a mechanical executing mechanism, a sensor assembly, a task control module, a power supply assembly and a device remote control system;
the intelligent agent module is arranged on special intelligent agent computing platform hardware and is arranged on the manned aircraft body to be refitted, and is respectively in control connection with the equipment control module, the sensor assembly and the task control module and used for receiving and processing various data information acquired by the equipment control module, the sensor assembly and the task control module, comprehensively judging the information such as the current flight environment, the equipment gesture and the task target and sending flight control and task instructions to the equipment control module, the mechanical execution mechanism and the task control module;
the equipment control module is used for transmitting the flight control and task instructions;
the mechanical executing mechanism is used for transmitting the executing actions related to the flight control and task instructions to the airborne component of the manned aircraft body, wherein the airborne component is the airborne component which must be executed by means of the mechanical mechanism;
the sensor assembly is used for acquiring and identifying the internal and external visual information of the piloted aircraft body to be refitted and transmitting the information to the intelligent body module;
The task control module is used for completing the modulation processing of data and instruction information between the intelligent agent module and the task load on the piloted plane body to be refitted;
the power supply assembly is used for supplying power to each component;
the equipment remote control system is deployed in a remote monitoring center and is in wireless communication connection with the intelligent body module through an avionics system on the piloted plane body.
By adopting the technical scheme, the modification kit adopts loose coupling modularized design to improve the universality of the modification kit, the original subsystems and components of the manned aircraft are changed as little as possible, the modification kit can be connected with a carrier equipment data bus of original equipment to acquire real-time environment parameters and motion data of the equipment, a mechanical transmission device is adapted to a mechanical control component of each type of equipment, a task control module is used for receiving data acquired by task loads and sending task instructions to the task loads, and all interfaces and execution modules are coordinated and controlled by an intelligent body component trained by AI.
The refitting kit can be adapted to equipment of different types through a small amount of modification or adjustment, and a series of refitting kits which can be used for refitting multi-type manned control equipment into unmanned control equipment are formed.
The retrofit kit includes a device mounting portion and a support environment portion.
The main functional components of the device mounting portion include: the system comprises an intelligent body module, an equipment control module, a mechanical actuating mechanism, a sensor assembly and a task control module;
the supporting environment part includes: and the equipment remote monitoring system and the intelligent training environment.
The functions of all the components of the kit are relatively independent, the functions of all the components are independently completed by the components, other components are not involved, all the components are connected through hardware connectors, the self-defined communication protocol of the kit is used for transmitting data, the hardware interfaces and the communication protocols of the similar components are completely universal, only task data and instructions are transmitted between all the components, and therefore the modularized loose coupling connection between the components is realized. The same type of components can be conveniently replaced through the design of connector connection, such as refitting equipment with different types, only the corresponding mechanical actuating mechanism, sensor components and the like are needed to be replaced, the series refitting suite aiming at different equipment is convenient to develop, meanwhile, independent testing of each component can be conveniently carried out through the loose coupling design, the test environment is only needed to be connected through the connector, data and instructions are sent to the component through the input interface, a processing result is returned to the test environment through the output interface, and the actual running environment of the component can be simulated.
Optionally, the device remote control system further comprises a communication component, and the device remote control system is in wireless communication connection with the agent module through the communication component.
By adopting the technical scheme, the communication component is used for providing the high-bandwidth, low-delay, encryptable and anti-interference communication channel with stable communication quality for the refitting suite, and ensuring the data communication transmission between the refitting suite and the equipment remote monitoring center and the flat suite intelligent agent, and if the equipment with a newer model has the communication capability meeting the requirement, the communication component can be omitted.
Optionally, the intelligent body module includes intelligent body, intelligent power platform, communication interface, equipment control interface, task interface and power source, intelligent body deploys on intelligent power platform, through communication interface and communication module communication connection, through equipment control interface and equipment control module communication connection, through task interface and task control module communication connection, through power source and power supply module electricity connection.
By adopting the technical scheme, the intelligent agent (intelligent agent) refers to a software system which can acquire surrounding environment information and act to achieve specific task targets in the field of artificial intelligence, and the system is usually a set of model algorithm software packages with a certain level of artificial intelligence.
The intelligent agent is a model algorithm software package trained by Artificial Intelligence (AI) in an intelligent agent training environment, is deployed on special intelligent agent power computing platform hardware, and the power computing platform is connected to an equipment control module, a sensor assembly and a task control module through a high-speed signal interface, and has the main functions of being responsible for receiving and processing various data information acquired by the equipment control module, the sensor assembly and the task control module, comprehensively judging the information such as the current flight environment, the equipment posture, the task target and the like, and sending flight control and task instructions to the equipment control module and the task control module, wherein the instructions comprise flight control, task load actions, communication with an upper control center or a flat intelligent agent and the like.
Optionally, the device operation module includes a device control data processor, a mechanical mechanism data interface, a data bus interface, an agent data interface and a power interface, where the device control data processor is communicatively connected with the agent component through the agent data interface, is communicatively connected with the mechanical executing mechanism through the mechanical mechanism data interface, is communicatively connected with the carrier device bus of the to-be-modified manned aircraft body through the data bus interface, and is electrically connected with the power supply component through the power interface.
By adopting the technical scheme, the equipment control module is a software-hardware fusion component connected with the intelligent body and the original human control equipment operation control system, the software part mainly completes data information conversion between the intelligent body and the carrier equipment data bus interface and the mechanical execution mechanism, receives various data transmitted by the carrier equipment data bus, converts electronic signals or mechanical signals into various parameters required by the intelligent body and transmits the parameters to the intelligent body, receives instructions sent by the intelligent body to the equipment control system, converts the instructions into signals which can be identified by the avionic equipment or the mechanical execution mechanism, and transmits the signals to the avionic equipment or the mechanical execution mechanism through the carrier equipment data bus, the hardware part is mainly used for deploying the software part of the module to provide necessary calculation force, and the standardized high-speed physical and electrical interfaces are connected with the intelligent body, the carrier equipment data bus and the data interface of the mechanical execution mechanism.
Optionally, the mechanical actuating mechanism includes arm controller, equipment control data interface, control lever driving motor, throttle driving motor and pedal driving motor, equipment operation module passes through equipment control data interface and arm controller communication connection, sends the operation instruction to arm controller, arm controller waits to repack the control lever on the manned aircraft body through control lever driving motor control, controls throttle arm through throttle driving motor, controls pedal arm through pedal driving motor.
By adopting the technical scheme, the mechanical actuating mechanism is used for transmitting relevant actuating actions of the control instructions to airborne components which are required to be executed by depending on the mechanical mechanism, such as a mechanical operating lever/steering wheel, a mechanical accelerator, a mechanical pedal/brake pedal and the like, aiming at the operation of the mechanical actuating components, the actuating mechanism of the external member is completed by adopting a motor-driven mechanical arm mode, the corresponding mechanical actuating mechanism is arranged at an operator seat or an operating position to replace the operating actions of four limbs of an operator, a force feedback device is arranged at the position where the tail end of the mechanical arm is contacted with the equipment to be modified, the stress condition of the mechanical actuating mechanism in the operation and execution process can be returned to the equipment control module, the mechanical actuating mechanism can be matched and applied only by adjusting parameters such as the position, the length, the force, the stroke, the step length of a driving motor and the like of the mechanical actuating mechanism, aiming at the equipment of the same type and different types, such as the difference of an airplane and a ground vehicle, the corresponding mechanical actuating mechanism component is required to be replaced, each type of equipment with great difference is required, the equipment with a specific mechanical actuating mechanism component is also required to be configured, the type of equipment of an electric control system is also used, the control instructions can be transmitted by an electric control system interface, the mechanical actuating system is still used, the mechanical actuating mechanism is required to be modified into a plurality of passenger components by the mechanical seat, the mechanical actuating mechanism, and the external member is required to be installed by a plurality of the intelligent mechanical actuating mechanism, and the corresponding to be installed by the mechanical actuating mechanism.
Optionally, the control lever driving motor includes first servo motor, second servo motor, third servo motor, first transmission connecting rod, second transmission connecting rod, third transmission connecting rod, operation platform, mechanical tongs and servo controller, first servo motor, second servo motor, third servo motor's casing is installed respectively in the installation box, and is equilateral triangle setting, the installation box is installed on waiting to repack the seat of having the aeroplane body, first transmission connecting rod, second transmission connecting rod, third transmission connecting rod's one end respectively with first servo motor, second servo motor, third servo motor's driving shaft transmission is connected, the other end is connected respectively in operation platform's side to drive operation platform 360 no dead angles motion in the settlement scope, mechanical tongs set up on operation platform for grasp the control lever and operate, servo controller respectively with first servo motor, second servo motor, third servo motor control connection, be used for controlling first servo motor, second servo motor, third servo motor realize that the mechanical tongs moves the position to be connected with the mechanical tongs of settlement, communication controller.
Through adopting above-mentioned technical scheme, for the drive control of the special model's of some different models, because the matching degree is relatively poor, consequently, design a fine adaptability's control rod driving motor and carry out the matching drive, install whole control rod driving motor on waiting to repack the original seat of aeroplane body through the fastener, perhaps bottom plate etc. can install the position, guarantee that the motion scope of machinery tongs can cover the control rod can, the design thinking is that the servo motor that is isosceles triangle and arranges provides power, the collaborative action under servo controller's drive, realize 360 no dead angles of operation platform 7 in a certain limit through the drive of three transmission connecting rods and remove, the linkage of cooperation machinery tongs realizes the different control rods of matching drive, the manipulation of simulation people's hand, the adaptation adaptability of aeroplane is greatly improved for some years.
Optionally, the sensor assembly includes environment information processor, forward camera, backward camera, side direction camera, agent interface and power source, environment information processor passes through agent interface and agent assembly communication connection, is connected with the power supply subassembly electricity through power source, forward camera, backward camera and side direction camera respectively with environment information processor communication connection.
Through adopting above-mentioned technical scheme, sensor assembly is used for replacing driver's vision and hearing, acquires and discerns information such as road, barrier, target around the equipment, including forward looking, backward looking, look ahead equidirectional camera and cloud platform, all kinds of electromagnetic wave radar, the ultrasonic sensor etc. around the equipment, can fuse the information that various sensors gathered, constitutes the complete situation of equipment surrounding environment, submits to the agent and handles.
Optionally, the equipment remote control system comprises a background control center and an equipment remote monitoring system, wherein the background control center is in communication connection with the equipment remote monitoring system, the equipment remote monitoring system is in wireless communication connection with the intelligent body component through a communication component, and the equipment remote monitoring system comprises a target analysis unit, a situation generation unit, a task planning unit and a control terminal unit.
By adopting the technical scheme, the equipment remote control system is deployed in the equipment remote monitoring center and is a direct command platform for the refitted unmanned equipment to execute tasks, the system is connected with the rear control center on the upper part and connected with the intelligent body of the refitted suite on the lower part, receives data sent back by the refitted unmanned equipment, provides information such as task scene situation information, task planning, target attributes and the like for the refitted unmanned equipment, supports the refitted unmanned equipment to smoothly complete tasks, is embedded with a manual control terminal of the refitted unmanned equipment, can take over the control right of the refitted unmanned equipment through system authorization under the conditions of failure, damage and the like of the intelligent body of the refitted unmanned equipment, is directly operated by manpower to complete tasks, is upwards connected with the rear control center, can bidirectionally transmit data with the rear control center, and supports the data transmitted back by the refitted unmanned equipment to the rear control center.
The modularized unmanned control construction method of the piloted plane comprises the following specific steps:
step 1, mounting hardware of a modularized unmanned control refitting kit, firstly mounting a mechanical executing mechanism, performing the mechanical executing mechanism, connecting an equipment operation module, mounting a sensor assembly and an equipment operation module, respectively connecting an intelligent body module, docking a task control module, mounting a power supply assembly, docking a power supply of a unmanned aircraft body to be refitted, docking all parts of the refitting kit, and providing power supply for the refitting kit;
and 2, performing AI training on the modified intelligent body, constructing a physical characteristic model of aerodynamic and modified equipment, performing continuous iteration by applying artificial intelligence training methods such as deep reinforcement learning and the like, generating the intelligent body capable of executing the autonomous flight task, and deploying the intelligent body into an intelligent body module of the modified suite in a firmware writing mode after simulation environment verification, semi-physical verification and physical verification.
Optionally, in step 2, training the intelligent agent by combining multiple types of models, and performing rule training by using a rule-based model algorithm according to the operation of a strict rule;
training by adopting a specific model of a supervised learning model part;
Complex road condition decision training is carried out by adopting a model based on reinforcement learning;
performing information interaction training by adopting a deep learning model and an LVC model;
and the intelligent body training also adopts LVC model training to strengthen the information interaction of the natural language and the visual scene of the unmanned equipment in the task.
By adopting the technical scheme, the intelligent training environment is a software and hardware facility for AI training of the intelligent agent in the refitted suite, is independent of the equipment installation part and the control system, has the main functions of simulating the task environment and the control characteristics of the refitted equipment, trains out the intelligent agent capable of executing the autonomous flight task through a series of artificial intelligent training methods, trains by adopting a mode of combining multiple types of models, and adopts a model algorithm based on rules for strict rules such as take-off, landing and the like, and comprises a state machine, an expert system and the like; for operation in a specific mode, such as normal running, typical target recognition and the like, a supervised learning model is adopted, wherein the supervised learning model comprises a decision tree, a vector machine and the like; aiming at complex environments and tasks, such as complex road condition situation construction, multi-target/obstacle recognition tracking and the like, a model based on reinforcement learning is adopted, wherein the model comprises Q-learning, strategy gradient and the like; aiming at nonlinear information such as landform and topography interpretation, monitoring center natural language instruction recognition and the like, a deep learning model is adopted, wherein the deep learning model comprises a cyclic neural network, a convolutional neural network, an attention mechanism and the like. In order to enhance the information interaction between natural Language and Visual scene of unmanned equipment in a task, the intelligent training also uses an LVC (Language-Visual integrated) model for training. The training of the intelligent body follows the steps of conventional data acquisition, data preprocessing, intelligent body design, model training, model evaluation, model optimization and the like, but in order to accelerate the iteration speed of intelligent training and improve the training quality, the technical scheme adopts a virtual-real combination mode, the intelligent body is respectively embedded into a pure digital simulation simulator, a semi-physical simulator and a physical simulation simulator in the training process, the pure digital simulation environment training is carried out first, the training is carried out on the semi-physical simulator and the physical simulation simulator after the simulation environment is verified, and the intelligent body calculation force platform of the refitting kit is deployed after the verification of the semi-physical simulator and the physical simulation simulator;
The task load on the equipment does not belong to the components of the refitted kit, but the sensor and other parts of the task load can acquire useful data information, and the task load also needs to execute corresponding actions, such as information acquisition, goods delivery and the like, according to the instruction issued by the intelligent agent, so that the kit is also designed with a data interface for connecting the task load.
In summary, the present invention includes at least one of the following beneficial technical effects:
(1) The modification idea is changed from adapting the modification equipment to driving operators to adding an intelligent control suite to the equipment, the universality is obviously enhanced, and more numbers of manned control equipment can be modified into unmanned control equipment through retraining of an intelligent body and parameter adjustment of each module;
(2) The intelligent control system has the advantages that the intelligent control system is provided with the artificial intelligence capable of continuously and iteratively upgrading, the intelligent level of equipment can be greatly improved by adding the intelligent body into the refitting kit, when the intelligent level of the intelligent body is low, the intelligent level of the intelligent body can be manually operated to execute tasks, and a large amount of data are collected for training the intelligent body, and when the intelligent level of the intelligent body reaches the available stage, unmanned equipment can be enabled to autonomously execute the tasks, so that the intelligent multi-machine independent task capability is provided, and the intelligent level of the intelligent body is continuously and iteratively upgraded along with the continuous progress of the artificial intelligent technology;
(3) The electric and mechanical structures of the original equipment are basically not damaged, the physical size, the pneumatic characteristics, the engine performance and the operating characteristics of the equipment are not obviously changed, the research and development period is short, the workload is small, and the equipment can be quickly changed into the manned operating equipment when necessary;
(4) By adopting generalized and loose coupling design, different machine types can be modified by slightly modifying corresponding modules of the external member, the modification scheme is relatively simple, the research and development period is shorter, the modification workload is less, and the comprehensive cost of research and development and production is lower.
Drawings
FIG. 1 is a schematic diagram of the overall functional logic of a modular unmanned retrofit kit for a piloted aircraft of the present invention;
FIG. 2 is a schematic diagram of the logical structure of the modular unmanned control retrofit kit agent module of the manned aircraft of the present invention;
FIG. 3 is a schematic view of the logical structure of the control module of the modular unmanned control retrofit kit device of the unmanned aerial vehicle of the present invention;
FIG. 4 is a schematic diagram of the logical structure of the mechanical actuator of the modular unmanned retrofit kit of the piloted aircraft of the present invention;
FIG. 5 is a schematic diagram of the logical structure of a modular unmanned retrofit kit aircraft sensor assembly of the piloted aircraft of the present invention;
FIG. 6 is a schematic diagram of the logical structure of a task control module of a modular unmanned control retrofit kit of the unmanned aerial vehicle of the present invention;
FIG. 7 is a schematic diagram of the logical architecture of a remote control system of a modular unmanned control retrofit kit for a manned aircraft of the present invention;
FIG. 8 is a schematic diagram of the logical structure of the modular unmanned control retrofit kit agent training environment of the manned aircraft of the present invention;
FIG. 9 is a schematic view of a joystick drive motor configuration of a modular unmanned retrofit kit for a piloted aircraft of the present invention;
fig. 10 is a schematic top view of fig. 9 with the top plate of the mounting case removed.
Reference numerals illustrate: 1. a first servo motor; 2. a second servo motor; 3. a third servo motor; 4. a first drive link; 5. a second drive link; 6. a third drive link; 7. an operating platform; 8. a mechanical gripper; 9. and installing the box body.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention discloses a modularized unmanned control refitting kit of a piloted plane and a construction method.
Referring to fig. 1-10, a modular unmanned control retrofit kit for a manned aircraft includes an agent module, a device handling module, a mechanical actuator, a sensor assembly, a mission control module, a power supply assembly, and a device remote control system;
The intelligent body module is arranged on special intelligent body computing platform hardware and is arranged on the body of the manned aircraft to be refitted, and is respectively in control connection with the equipment control module, the sensor assembly and the task control module, and is used for receiving and processing various data information acquired by the equipment control module, the sensor assembly and the task control module, comprehensively judging the information such as the current flight environment, the equipment posture, the task target and the like, and sending flight control and task instructions to the equipment control module, the mechanical executing mechanism and the task control module;
the equipment control module is used for transmitting the flight control and task instructions;
the mechanical executing mechanism is used for transmitting the executing actions related to the flight control and task instructions to the airborne component of the manned aircraft body, wherein the airborne component refers to the airborne component which must be executed by means of the mechanical mechanism;
the sensor component is used for acquiring and identifying the internal and external visual information of the piloted plane body to be refitted and transmitting the information to the intelligent body module;
the task control module is used for completing the modulation processing of data and instruction information between the intelligent agent module and the task load on the piloted plane body to be refitted;
the power supply assembly is used for supplying power to each component;
The equipment remote control system is deployed in a remote monitoring center and is in wireless communication connection with the intelligent body module through an avionics system on the manned aircraft body.
The adaptation suite adopts a loosely-coupled modularized design to improve the universality of the adaptation suite, the original subsystems and components of the manned aircraft are changed as little as possible, the adaptation suite can be connected with a carrier equipment data bus of original equipment to acquire real-time environment parameters and motion data of the equipment, the mechanical transmission device is adapted to mechanical control components of various types of equipment, the task control module is used for receiving data acquired by task loads and sending task instructions to the task loads, and all interfaces and execution modules are controlled in a coordinated manner by the intelligent body assembly trained by the AI.
The refitting kit can be adapted to equipment of different types through a small amount of modification or adjustment, and a series of refitting kits which can be used for refitting multi-type manned control equipment into unmanned control equipment are formed.
The retrofit kit includes a device mounting portion and a support environment portion.
The main functional components of the device mounting portion include: the system comprises an intelligent body module, an equipment control module, a mechanical actuating mechanism, a sensor assembly and a task control module;
The supporting environment part includes: and the equipment remote monitoring system and the intelligent training environment.
The functions of all the components of the kit are relatively independent, the functions of all the components are independently completed by the components, other components are not involved, all the components are connected through hardware connectors, the self-defined communication protocol of the kit is used for transmitting data, the hardware interfaces and the communication protocols of the similar components are completely universal, only task data and instructions are transmitted between all the components, and therefore the modularized loose coupling connection between the components is realized. The same type of components can be conveniently replaced through the design of connector connection, such as refitting equipment with different types, only the corresponding mechanical actuating mechanism, sensor components and the like are needed to be replaced, the series refitting suite aiming at different equipment is convenient to develop, meanwhile, independent testing of each component can be conveniently carried out through the loose coupling design, the test environment is only needed to be connected through the connector, data and instructions are sent to the component through the input interface, a processing result is returned to the test environment through the output interface, and the actual running environment of the component can be simulated.
The remote control system of the equipment is connected with the intelligent agent module in a wireless communication way through the communication assembly.
The communication component is used for providing a high-bandwidth, low-delay, encryptable and anti-interference communication channel with stable communication quality for the refitting suite, ensuring data communication transmission between the refitting suite and the equipment remote monitoring center and the flat suite intelligent body, and if the equipment with a newer model has communication capability meeting the requirement, the communication component can be omitted.
The intelligent agent module comprises an intelligent agent, an intelligent power computing platform, a communication interface, a device control interface, a task interface and a power interface, wherein the intelligent agent is deployed on the intelligent power computing platform and is in communication connection with the communication assembly through the communication interface, is in communication connection with the device control module through the device control interface, is in communication connection with the task control module through the task interface, and is electrically connected with the power supply assembly through the power interface.
An agent (intelligent agent) in the field of artificial intelligence refers to a software system that can obtain ambient information and act to achieve specific task goals, typically a set of model algorithm packages with a certain level of artificial intelligence.
The intelligent agent is a model algorithm software package trained by Artificial Intelligence (AI) in an intelligent agent training environment, is deployed on special intelligent agent power computing platform hardware, and the power computing platform is connected to an equipment control module, a sensor assembly and a task control module through a high-speed signal interface, and has the main functions of being responsible for receiving and processing various data information acquired by the equipment control module, the sensor assembly and the task control module, comprehensively judging the information such as the current flight environment, the equipment posture, the task target and the like, and sending flight control and task instructions to the equipment control module and the task control module, wherein the instructions comprise flight control, task load actions, communication with an upper control center or a flat intelligent agent and the like.
The device operation module comprises a device control data processor, a mechanical mechanism data interface, a data bus interface, an intelligent body data interface and a power supply interface, wherein the device control data processor is in communication connection with the intelligent body assembly through the intelligent body data interface, is in communication connection with the mechanical execution mechanism through the mechanical mechanism data interface, is in communication connection with a carrier device bus of the unmanned aerial vehicle body to be refitted through the data bus interface, and is electrically connected with the power supply assembly through the power supply interface.
The device control module is a software and hardware integration component connected with the intelligent body and the original human control device operation control system, the software part mainly completes data information conversion between the intelligent body and the carrier device data bus interface and the mechanical execution mechanism, receives various data transmitted by the carrier device data bus, converts electronic signals or mechanical signals into various parameters required by the intelligent body and transmits the parameters to the intelligent body, receives an instruction sent by the intelligent body to the device control system, converts the instruction into a signal which can be identified by the avionic device or the mechanical execution mechanism, transmits the signal to the avionic device or the mechanical execution mechanism through the carrier device data bus, and the hardware part mainly is used for deploying the software part of the module to provide necessary calculation force.
The mechanical actuating mechanism comprises a mechanical arm controller, a device control data interface, an operating lever driving motor, an accelerator driving motor and a pedal driving motor, wherein the device operation module is in communication connection with the mechanical arm controller through the device control data interface and sends an operation instruction to the mechanical arm controller, the mechanical arm controller controls an operating lever on a to-be-refitted manned aircraft body through the operating lever driving motor, the accelerator driving motor is used for controlling the accelerator mechanical arm, and the pedal driving motor is used for controlling the pedal mechanical arm.
The mechanical actuating mechanism is used for transmitting relevant actuating actions of an actuating instruction to an onboard component which is required to be executed by the mechanical mechanism, such as a mechanical actuating lever/steering wheel, a mechanical accelerator, a mechanical pedal/brake pedal and the like, aiming at the operation of the mechanical actuating component, the actuating mechanism of the kit is completed in a mode of driving the mechanical arm by a motor, the corresponding mechanical actuating mechanism is arranged at an operator seat or an operating position to replace the operating actions of four limbs of an operator, a force feedback device is arranged at the contact part of the tail end of the mechanical arm and the equipment to be refitted, the stress condition of the mechanical actuating mechanism in the operation and execution process can be returned to the equipment control module, parameters such as the position, the length, the force, the stroke, the step length of a driving motor and the like of the mechanical actuating mechanism are only required to be adjusted for equipment of different types, the kit can be matched and applied, and aiming at the difference of different types of equipment, such as the difference of an airplane and a ground vehicle, the corresponding mechanical actuating mechanism component is required to be replaced, and each type of equipment with a pointed mechanical actuating mechanism component is required to be configured, the equipment type of an electrical control system is also required to be transmitted by an electrical control system interface, the mechanical actuating instruction is still used, the kit is required to be refitted by the mechanical actuating mechanism, and the mechanical actuating mechanism is still required to be installed by a plurality of passenger components, and the intelligent control modules are installed by a plurality of the intelligent control modules.
The control rod driving motor comprises a first servo motor 1, a second servo motor 2, a third servo motor 3, a first transmission connecting rod 4, a second transmission connecting rod 5, a third transmission connecting rod 6, an operation platform 7, a mechanical gripper 8 and a servo controller, wherein the shells of the first servo motor 1, the second servo motor 2 and the third servo motor 3 are respectively arranged in an installation box 9 and are arranged in an equilateral triangle shape, the installation box 9 is arranged on a seat of a to-be-modified piloted plane body, one end of the first transmission connecting rod 4, one end of the second transmission connecting rod 5 and one end of the third transmission connecting rod 6 are respectively in transmission connection with a driving shaft of the first servo motor 1, one end of the second transmission connecting rod 5 and one end of the third transmission connecting rod 6, the other end of the first transmission connecting rod is respectively connected with the side surface of the operation platform 7, the mechanical gripper 8 does not have dead angle movement in a set range, the mechanical gripper 8 is arranged on the operation platform 7 and used for grabbing the control rod to operate, and the servo controller is respectively in control connection with the first servo motor 1, the second servo motor 2 and the third servo motor 3, the mechanical gripper 3 is used for controlling the first servo motor 1, the second servo motor 2 and the third servo motor 3 to realize the communication and the control of the position of the mechanical gripper 8.
For the driving control of special types of control levers of different types, due to poor matching degree, a control lever driving motor with good adaptability is designed to carry out matching driving, the whole control lever driving motor is installed on an original seat of a to-be-modified manned aircraft body through a fastener, or the seat is detached and installed on a bottom plate, or the seat can be installed at an idle position near the control lever, the movement range of the mechanical gripper 8 is ensured to cover the control lever, the design thinking is that the servo motor is in isosceles triangle arrangement to provide power, the servo motor is cooperated with the driving of a servo controller, the 360-degree dead angle movement of an operation platform 7 in a certain range is realized through the driving of three transmission connecting rods, the matching driving of different control levers is realized, the control of the manned aircraft is simulated, and the modification adaptability of the manned aircraft for some years is greatly improved.
The sensor assembly comprises an environment information processor, a forward camera, a backward camera, a lateral camera, an intelligent body interface and a power interface, wherein the environment information processor is in communication connection with the intelligent body assembly through the intelligent body interface, and is electrically connected with the power supply assembly through the power interface, and the forward camera, the backward camera and the lateral camera are respectively in communication connection with the environment information processor.
The sensor assembly is used for replacing the vision and hearing of a driver, acquiring and identifying information such as roads, barriers, targets and the like around the equipment, including cameras and holders in front view, rear view, side view and other directions, various electromagnetic wave radars, ultrasonic sensors and the like around the equipment, and can fuse the information acquired by various sensors to form a complete situation of the surrounding environment of the equipment and submit the information to an intelligent body for processing.
The equipment remote control system comprises a background control center and an equipment remote monitoring system, wherein the background control center is in communication connection with the equipment remote monitoring system, the equipment remote monitoring system is in wireless communication connection with the intelligent body component through a communication component, and the equipment remote monitoring system comprises a target analysis unit, a situation generation unit, a task planning unit and an operation terminal unit.
The system is connected with a rear control center on the upper side, connected with an agent of a refitted suite on the lower side, receives data sent back by the refitted unmanned equipment, provides information such as task scene situation information, task planning, target attributes and the like for the refitted unmanned equipment, supports the refitted unmanned equipment to smoothly complete the task, is embedded with a manual control terminal of the refitted unmanned equipment, and can take over the control right of the refitted unmanned equipment through system authorization when the agent of the refitted unmanned equipment fails, breaks down and the like, and the system is connected with the rear control center upwards to bidirectionally transmit the data with the rear control center to support the direct forwarding of the data sent back by the refitted unmanned equipment to the rear control center.
The modularized unmanned control construction method of the piloted plane comprises the following specific steps:
step 1, mounting hardware of a modularized unmanned control refitting kit, firstly mounting a mechanical executing mechanism, performing the mechanical executing mechanism, connecting an equipment operation module, mounting a sensor assembly and an equipment operation module, respectively connecting an intelligent body module, docking a task control module, mounting a power supply assembly, docking a power supply of a unmanned aircraft body to be refitted, docking all parts of the refitting kit, and providing power supply for the refitting kit;
and 2, performing AI training on the modified intelligent body, constructing a physical characteristic model of aerodynamic and modified equipment, performing continuous iteration by applying artificial intelligence training methods such as deep reinforcement learning and the like, generating the intelligent body capable of executing the autonomous flight task, and deploying the intelligent body into an intelligent body module of the modified suite in a firmware writing mode after simulation environment verification, semi-physical verification and physical verification.
In the step 2, training of the intelligent agent is performed by adopting a mode of combining multiple types of models, and rule training is performed by adopting a rule-based model algorithm aiming at the operation of a strict rule;
training by adopting a specific model of a supervised learning model part;
Complex road condition decision training is carried out by adopting a model based on reinforcement learning;
performing information interaction training by adopting a deep learning model and an LVC model;
and the intelligent body training also adopts LVC model training to strengthen the information interaction of the natural language and the visual scene of the unmanned equipment in the task.
The embodiment of the invention provides a modularized unmanned control refitting kit of a piloted plane and a construction method thereof, wherein the implementation principle is as follows:
as shown in fig. 1, the retrofit kit in this embodiment includes an apparatus mounting portion and a supporting environment portion, the apparatus mounting portion being composed of functional components and auxiliary equipment, the functional components including: intelligent agent (Intelligent Agent) module, equipment control module, task control module, carrier equipment data bus interface, mechanical actuator, auxiliary assembly includes: a power supply assembly, a communication assembly; the supporting environment part includes: and the equipment remote control system and the intelligent training environment.
The device installation part is the core of the refitting suite, the intelligent body module is a central control part of the suite, the intelligent body module is connected with the device control module, the task control module and the communication assembly through wired high-speed data channels, the data channels are in a bidirectional communication mode, uploading data of the device control module, the task control module and the communication assembly can be transmitted to the intelligent body module, and control instructions and data sent by the intelligent body are transmitted to the device control module, the task control module and the communication assembly;
The communication assembly (optional) consists of an antenna, a feeder line, a digital communication processor, an encryption module, a power supply and the like, and is used for providing a high-bandwidth, low-delay, encryption-capable and anti-interference communication channel with stable communication quality for the refitting suite, so as to ensure the data communication transmission between the refitting suite and the intelligent agent of the control center and the flat suite;
the power supply assembly is connected with a power supply on the original machine to provide sufficient and reliable power supply for each power utilization component of the refitted suite, and a double-path redundancy mode is generally adopted for power supply, wherein the modules needing power supply comprise an intelligent body module, an equipment control module, a task control module, a mechanical actuating mechanism, a communication assembly and the like;
the intelligent body training environment is generally deployed at a rear production base, corresponding intelligent bodies are trained according to different types of equipment to be refitted, and the intelligent body training environment is installed and deployed in intelligent body modules of corresponding kits after training is completed;
the device remote control system is deployed in a device remote monitoring center for directly commanding unmanned devices to execute tasks, the device remote monitoring center can be movable devices, including vehicles, ships, airplanes and the like, can also be ground fixed facilities, is communicated with an airborne suite by means of a high-speed reliable wireless communication link, an embedded manual control terminal can also directly remotely control and refit the unmanned devices, the device remote monitoring center and a rear control center are connected by the high-speed reliable wireless communication link, task data information is transmitted in a bidirectional manner, and when the position of the device remote monitoring center is relatively fixed, the device remote monitoring center can also be connected with the rear control center by means of a wired communication link such as an optical cable;
As shown in fig. 2, the intelligent agent module is composed of an intelligent agent computing platform, an intelligent agent, an equipment control interface, a task interface, a communication interface and a power interface, and is respectively connected with the equipment control module, the task control module, the communication module and the power supply module, wherein the equipment control interface is used for receiving driving data and sending equipment control instructions, the task interface is responsible for receiving task load data and sending task load action instructions, the communication interface is responsible for communicating with an equipment remote control system and a flat refitted unmanned equipment through the communication module, the intelligent agent is written into a memory of the intelligent agent computing platform in a firmware mode, after the refitted kit is electrified and started, the intelligent agent is adjusted into the intelligent agent computing platform to operate, and running actions, the task load actions and communication data to be sent are calculated in real time according to data information transmitted by the equipment control module, the task control module and the communication module and are sent to the corresponding module to be executed;
as shown in fig. 3, the device control module is composed of a device control data processor, an agent data interface, a carrier device data bus interface, a mechanical mechanism data interface and a power interface, wherein the device control data processor completes data conversion processing between agent data and instructions, carrier device data bus data and mechanical execution mechanisms, specifically converts data uploaded by the carrier device data bus and the mechanical execution mechanisms into situation data and calculation parameters required by the agent, and converts device control instructions issued by the agent into data and instructions identifiable by the carrier device data bus and the mechanical execution mechanisms;
The intelligent body data interface is connected with the intelligent body module to finish the bidirectional data transmission between the equipment control data processor and the intelligent body module;
the carrier equipment data bus interface is connected with the original carrier equipment data bus, is compatible with the physical, electrical and data protocol standards of the carrier equipment data bus, and all the carrier equipment connected with the carrier equipment data bus can carry out bidirectional data transmission with the equipment control data processor;
the mechanical mechanism data interface is connected with the mechanical executing mechanism to complete the bidirectional data transmission between the equipment control data processor and the mechanical executing mechanism, and a mechanical actuating instruction converted by the equipment control data processor is sent to the mechanical executing mechanism, including but not limited to the mechanical arm position, angle, stroke and the like, and mechanical arm position information returned by the mechanical executing mechanism is sent back by the equipment control data processor;
as shown in fig. 4, the mechanical actuator is composed of a mechanical arm controller, a device control data interface, a driving motor, a mechanical arm and a power interface, wherein the mechanical actuator base, the mechanical arm controller and the device control data interface are integrally installed and fixed at the position of a driver seat (the seat at the position can be removed if necessary), the device control data interface is connected with a device control module and is used for receiving a mechanical control instruction issued by the device control module, uploading real-time state data of the mechanical control device, and the mechanical arm controller is used for converting the mechanical control instruction issued by the device control module into a mechanical arm control signal and transmitting the mechanical arm control signal to the corresponding mechanical arm and transmitting the real-time state data of the mechanical control device to the device control module;
The base extends out of the mechanical arms to the operating rod/steering wheel, the accelerator and the pedals respectively, each mechanical arm controls a mechanical device, wherein the mechanical arm for controlling the operating rod/steering wheel can adopt a multi-degree-of-freedom design, free movement of the operating rod/steering wheel in the movement allowing direction is realized, the mechanical arm for controlling the accelerator can control the acceleration, the deceleration and the locking of the accelerator, the mechanical arm for controlling the pedals can control the stepping-down depth of the pedals, the mechanical executing mechanism only completes the mechanical operating functions of the operating rod/steering wheel, the accelerator and the pedals, each key function on the operating rod/steering wheel and the accelerator is completed by directly controlling the actuating device through an equipment operating module by an equipment data bus, if the aircraft is of a double-seat type, a set of mechanical arm assembly is also installed at the position of a front seat or a rear seat of the mechanical operating device, the two sets of mechanical arm assemblies work cooperatively under unified control of an intelligent body, and normally only one set of mechanical arm assembly works, and the other set of mechanical arm assembly is ready for use;
as shown in fig. 5, the sensor assembly of the modified aircraft is composed of an environment information processor, an intelligent body interface, a forward camera, a backward camera, a lateral (left/right) camera and the like, the intelligent body interface is connected with the intelligent body module, image information processed by the environment information processor is sent to the intelligent body, and the intelligent body identifies and marks specific things (such as roads, barriers, living things, airports, runways, task targets and the like) in the environment through an intelligent image identification function, so that the functions of map matching running, obstacle avoidance, target identification and the like are realized, and the completion of tasks is effectively supported;
The forward camera, the backward camera and the lateral (left/right) camera cover visible light and infrared light wave bands, 1 or more cameras can be arranged in each direction, and each camera is overlapped with the adjacent camera by not less than 30 percent of the visual angle;
the environment information processor is mainly responsible for receiving images uploaded by all cameras, synthesizing a 360-degree panoramic image of the equipment by adopting an image stitching and fusion technology, and sending the panoramic image to the intelligent agent;
as shown in fig. 6, the task control module is composed of a task data processor, an agent data interface, a task load data interface and a power interface, wherein the agent data interface is connected with the agent module and used for bidirectional data transmission between the task data processor and the agent module, the task load data interface is connected with the task load and used for bidirectional data transmission between the task data processor and the task load, the task data processor receives the task load state and sensor data carried by the task data processor, converts the task load state and the sensor data into parameters required by the agent calculation and then uploads the parameters to the agent module, and converts a task instruction sent by the agent module into a load action and sends the load action to the task load for execution;
as shown in fig. 7, the remote control system of the device is deployed on a remote monitoring center (with a piece of equipment) and is a direct command platform for the refitted equipment to execute tasks, the system is connected with the refitted unmanned equipment through a wireless link, receives data sent back by the refitted unmanned equipment, provides information such as task scene situation, task planning, target attribute and the like for the refitted unmanned equipment, supports the refitted unmanned equipment to smoothly complete the tasks, is embedded with a manual control terminal of the refitted unmanned equipment, can take over the control right of the refitted unmanned equipment through system authorization when the intelligent body of the refitted unmanned equipment fails, breaks down and the like, and can be directly operated by a person to complete the tasks, and the system can be connected with a rear control center through a communication link to bidirectionally transmit the data so as to support the data sent back by the refitted unmanned equipment to the rear control center and receive commands at the rear;
As shown in fig. 8, the training environment of the intelligent agent is composed of a hardware platform, a training engine, a resource management interface and the like, which are deployed in the production environment of the retrofit kit, and is independent of the equipment installation part and the control system, the hardware platform mainly comprises a CPU server, a GPU server and a high-speed network equipment, and provides sufficient computing power, sufficient storage space and high-speed network transmission capability for training the intelligent agent, the training engine is a main software environment for training the intelligent agent, various artificial intelligent algorithms, training data and modeling tools are provided, the resource management interface is a management interface for training the intelligent agent, and software and hardware resource allocation, system setting, data and intelligent agent import and export functions are provided;
the method for training the intelligent body is to construct a physical characteristic model of aerodynamic and refitting equipment, and continuously iterate by applying artificial intelligent training methods such as deep reinforcement learning and the like to generate the intelligent body capable of executing an autonomous flight task, and deploy the intelligent body into an intelligent body module of the refitting kit in a firmware writing mode after simulation environment verification, semi-physical verification and physical verification.
The above embodiments are not intended to limit the scope of the present invention, and therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (8)
1. Modularized unmanned control refitting kit of piloted plane, which is characterized in that: the system comprises an intelligent body module, a device control module, a mechanical actuating mechanism, a sensor assembly, a task control module, a power supply assembly and a device remote control system;
the intelligent agent module is arranged on special intelligent agent computing platform hardware and is arranged on the manned aircraft body to be refitted, and is respectively in control connection with the equipment control module, the sensor assembly and the task control module and used for receiving and processing data information acquired by the equipment control module, the sensor assembly and the task control module, comprehensively judging the current flight environment, the equipment posture and the task target information and sending flight control and task instructions to the equipment control module, the mechanical executing mechanism and the task control module;
the equipment control module is used for transmitting the flight control and task instructions;
the mechanical executing mechanism is used for transmitting the executing actions related to the flight control and task instructions to the airborne component of the manned aircraft body, wherein the airborne component is the airborne component which must be executed by means of the mechanical mechanism;
the sensor assembly is used for acquiring and identifying the internal and external visual information of the piloted aircraft body to be refitted and transmitting the information to the intelligent body module;
The task control module is used for completing the modulation processing of data and instruction information between the intelligent agent module and the task load on the piloted plane body to be refitted;
the power supply assembly is used for supplying power to each component;
the equipment remote control system is deployed in a remote monitoring center and is in wireless communication connection with the intelligent body module through an avionics system on the piloted plane body;
the mechanical actuating mechanism comprises a mechanical arm controller, an equipment control data interface, an operating lever driving motor, an accelerator driving motor and a pedal driving motor, wherein the equipment operation module is in communication connection with the mechanical arm controller through the equipment control data interface and sends an operation instruction to the mechanical arm controller, the mechanical arm controller controls an operating lever to be refitted on the piloted plane body through the operating lever driving motor, the accelerator driving motor controls the accelerator mechanical arm, and the pedal driving motor controls the pedal mechanical arm;
the control rod driving motor comprises a first servo motor (1), a second servo motor (2), a third servo motor (3), a first transmission connecting rod (4), a second transmission connecting rod (5), a third transmission connecting rod (6), an operating platform (7), a mechanical gripper (8) and a servo controller, wherein the shells of the first servo motor (1), the second servo motor (2) and the third servo motor (3) are respectively arranged in an installation box body (9) and are arranged in an equilateral triangle shape, the installation box body (9) is arranged on a seat of a manned aircraft body to be refitted, one end of the first transmission connecting rod (4), one end of the second transmission connecting rod (5) and one end of the third transmission connecting rod (6) are respectively connected with driving shafts of the first servo motor (1), the second servo motor (2) and the third servo motor (3) in a transmission way, the other end of the first transmission connecting rod is respectively connected to the side face of the operation platform (7), the operation platform (7) is driven to move within a set range at 360 degrees without dead angles, the mechanical gripper (8) is arranged on the operation platform (7) and used for gripping an operating rod and operating, and the servo controller is respectively connected with the first servo motor (1), the second servo motor (2) and the third servo motor (3) in a control way and used for controlling the first servo motor (1), the second servo motor (2), the third servo motor (2), the third servo motor (3) cooperatively realizes the set position movement of the mechanical gripper (8) and is in communication connection with the mechanical arm controller.
2. The modular unmanned airplane control retrofit kit according to claim 1, wherein: the remote control system of the equipment is in wireless communication connection with the intelligent agent module through the communication assembly.
3. The modular unmanned airplane control retrofit kit according to claim 2, wherein: the intelligent agent module comprises an intelligent agent, an intelligent power computing platform, a communication interface, a device control interface, a task interface and a power interface, wherein the intelligent agent is deployed on the intelligent power computing platform and is in communication connection with the communication assembly through the communication interface, is in communication connection with the device control module through the device control interface, is in communication connection with the task control module through the task interface, and is electrically connected with the power supply assembly through the power interface.
4. A modular unmanned airplane control retrofit kit according to claim 3, wherein: the equipment operation module comprises an equipment control data processor, a mechanical mechanism data interface, a data bus interface, an intelligent body data interface and a power supply interface, wherein the equipment control data processor is in communication connection with the intelligent body assembly through the intelligent body data interface, is in communication connection with the mechanical execution mechanism through the mechanical mechanism data interface, is in communication connection with a carrier equipment bus of the manned aircraft body to be refitted through the data bus interface, and is electrically connected with the power supply assembly through the power supply interface.
5. The modular unmanned airplane control retrofit kit according to claim 4, wherein: the sensor assembly comprises an environment information processor, a forward camera, a backward camera, a lateral camera, an intelligent body interface and a power supply interface, wherein the environment information processor is in communication connection with the intelligent body assembly through the intelligent body interface and is electrically connected with the power supply assembly through the power supply interface, and the forward camera, the backward camera and the lateral camera are respectively in communication connection with the environment information processor.
6. The modular unmanned airplane control retrofit kit of claim 5, wherein: the equipment remote control system comprises a background control center and an equipment remote monitoring system, wherein the background control center is in communication connection with the equipment remote monitoring system, the equipment remote monitoring system is in wireless communication connection with the intelligent body component through a communication component, and the equipment remote monitoring system comprises a target analysis unit, a situation generation unit, a task planning unit and a control terminal unit.
7. The method for constructing the modularized unmanned control of the piloted plane is characterized by adopting the modularized unmanned control refitting kit of the piloted plane as claimed in claim 6, and the specific method is as follows:
Step 1, mounting hardware of a modularized unmanned control refitting kit, firstly mounting a mechanical executing mechanism, performing the mechanical executing mechanism, connecting an equipment operation module, mounting a sensor assembly and an equipment operation module, respectively connecting an intelligent body module, docking a task control module, mounting a power supply assembly, docking a power supply of a unmanned aircraft body to be refitted, docking all parts of the refitting kit, and providing power supply for the refitting kit;
and 2, performing AI training on the modified intelligent body, constructing a physical characteristic model of aerodynamic and modified equipment, performing continuous iteration by using an artificial intelligent training method of deep reinforcement learning, generating the intelligent body capable of executing the autonomous flight task, and deploying the intelligent body into an intelligent body module of the modified suite in a firmware writing mode after simulation environment verification, semi-physical verification and physical verification.
8. The method of modular unmanned aerial vehicle construction of claim 7, wherein: in the step 2, training of the intelligent agent is performed by adopting a mode of combining multiple types of models, and rule training is performed by adopting a rule-based model algorithm aiming at the operation of a strict rule;
training by adopting a specific model of a supervised learning model part;
Complex road condition decision training is carried out by adopting a model based on reinforcement learning;
performing information interaction training by adopting a deep learning model and an LVC model;
and the intelligent body training also adopts LVC model training to strengthen the information interaction of the natural language and the visual scene of the unmanned equipment in the task.
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