CN116795141B - Unmanned aerial vehicle cluster collaborative operation system - Google Patents
Unmanned aerial vehicle cluster collaborative operation system Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle cluster control, and particularly discloses an unmanned aerial vehicle cluster collaborative operation system, which comprises the following components: the invention adopts mirror images to acquire flight programs, does not cause interference to the programs, simultaneously correspondingly modifies the programs acquired by the mirror images according to the change of environment information and control instructions, and forms corresponding cooperative control flight programs.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cluster cooperative control, in particular to an unmanned aerial vehicle cluster cooperative operation system.
Background
At present, a control program for regular execution is basically set for the control of the unmanned aerial vehicle cluster, and then the control program is correspondingly modified according to the environmental information and the change of the control instruction when the system is in operation so as to execute corresponding behavior modes, such as obstacle avoidance, formation composition, formation switching, directional movement and the like. However, when the program is modified, the modified original program is directly replaced by the modified program, so that when the program is executed, the unmanned aerial vehicle cluster needs to be in a relatively stable state, and when the flying posture is kept unchanged, the program is replaced, and the method requires a good operation experience of an operator, and when the program is replaced, the unmanned aerial vehicle is kept temporarily stable, and once the unmanned aerial vehicles are in cross flight, collision among the unmanned aerial vehicles is possibly caused.
Disclosure of Invention
In view of the above, the present invention is directed to a unmanned aerial vehicle cluster collaborative operation system.
In order to achieve the above object, the present invention provides an unmanned aerial vehicle cluster collaborative operation system, comprising:
a plurality of control nodes;
each unmanned aerial vehicle group is controlled by a control node, and the control node is used for acquiring the flight state of any unmanned aerial vehicle in the corresponding unmanned aerial vehicle group in real time and carrying out flight control on any unmanned aerial vehicle in the corresponding unmanned aerial vehicle group according to a set flight program;
the control terminal is connected with the control nodes, and flight programs of the unmanned aerial vehicle group corresponding to any control node and the control authority and the modification range of the control authority of any control node are stored in the control terminal;
the cooperative control equipment is used for connecting the control terminal, acquiring a flight program corresponding to any control node in the control terminal, and acquiring control authority corresponding to any control node in the control terminal and a modification range of the control authority; and the cooperative control apparatus is configured to: partially or completely modifying the flight program to form a cooperative control flight program and a synchronous node; writing the synchronous node into a synchronous program, synchronizing the cooperative control flight program and the synchronous program to a control terminal so as to be distributed to the corresponding control node, and sending a cooperative control instruction to the control terminal;
the control terminal controls the synchronous program under the control node to initialize based on the cooperative control instruction, writes the synchronous node into the flight program while the flight program is executed so as to correlate the cooperative control flight program with the flight program, and automatically jumps to the cooperative control flight program to control the unmanned aerial vehicle group when the flight program is executed to the synchronous node position.
Further, the control terminal is used for setting the control authority of any control node, setting the modification range of the control authority, and storing the flight program of the unmanned aerial vehicle group corresponding to any control node in the control terminal.
Further, a comparison table is further arranged in the control terminal, a plurality of storage catalogs are set according to the comparison table, and the flight program is arranged in the corresponding set storage catalogs.
Further, the cooperative control device obtains a flight program corresponding to any control node in the control terminal through mirroring.
Further, the cooperative control apparatus has:
the system comprises a plurality of acquisition modules, a first control module and a second control module, wherein at least two first acquisition units and second acquisition units which are executed in parallel are arranged in each acquisition module, a mirror image path is arranged in each first acquisition unit, the first acquisition units are used for acquiring a flight program corresponding to any control node in a corresponding control terminal through the mirror image path, and the second acquisition units are used for acquiring control authority corresponding to any control node in the control terminal and a modification range of the control authority;
the permission modification module is used for modifying the attribute of the flight program acquired by the mirror image according to the modification range of the control permission and modifying the attribute of the flight program into readable and writable;
the cooperative control configuration module is connected with the authority modification module and is used for partially or completely modifying the flight program with the modified attribute to form a cooperative control flight program;
the synchronous setting module is used for connecting with the cooperative control configuration module, and is used for synchronously setting the cooperative control flight program and the flight program acquired by the mirror image, forming at least one synchronous node and writing the synchronous node into the synchronous program;
and the synchronization module is used for synchronizing the cooperative control flight program and the synchronization program to the control terminal, distributing the cooperative control flight program and the synchronization program to the control node according to the acquired control authority of the control node, and sending a cooperative control instruction to the control terminal.
Further, the synchronization setting module includes: a program execution monitor having at least a set of first and second execution monitoring units, and a judgment unit;
the first execution monitoring unit is used for decomposing the cooperative control flight program into a plurality of independent first execution program parts and acquiring first execution parts of the plurality of first execution program parts;
the second execution monitoring unit is used for decomposing the flight program acquired by the mirror image into a plurality of independent second execution program parts and acquiring second execution parts of the plurality of second execution program parts;
the judging unit is used for loading the first executing part and the second executing part correspondingly according to the decomposition sequence, judging whether the first executing part and the second executing part are identical, if so, indicating that the first executing part and the second executing part have identical executing instructions, not setting the synchronous node, and if not, indicating that the first executing part and the second executing part have different executing instructions, and setting the synchronous node.
Further, at least one of the plurality of acquisition modules is configured to acquire a lookup table set in the control terminal, and the mirror paths of the other acquisition modules are configured according to the lookup table.
Further, the flight procedure has a plurality of independent program segments, each program segment for configuring flight control of one unmanned aerial vehicle, and each program segment is configured into a solid portion and a non-solid portion.
Further, the entity part includes:
an instruction part for controlling the unmanned aerial vehicle and taking codes as implementation main bodies;
a logic relation part for executing setting on the instruction part, wherein the logic relation part comprises an association relation with other program segments;
and a configuration section configured to configure the execution interface corresponding to the instruction section.
Further, the non-entity part is used for configuring the control authority of each program segment for performing flight control on the corresponding unmanned aerial vehicle, and configuring the attribute required by the program segment to be identified, copied and edited.
Compared with the prior art, the method adopts the mirror image to acquire the flight program, does not cause interference to the program, simultaneously correspondingly modifies the program acquired by the mirror image according to the change of the environment information and the control instruction, and forms the corresponding cooperative control flight program, the synchronous node is obtained by performing simulation execution judgment between the cooperative control flight program and the corresponding flight program, the synchronous node is written into the synchronous program, the cooperative control flight program and the synchronous program are synchronized to the control terminal so as to be distributed to the corresponding control node, and the cooperative control instruction is sent to the control terminal, the control terminal controls the synchronous program under the control node to initialize based on the cooperative control instruction, and the synchronous node is written into the flight program while the flight program is executed so as to correlate the cooperative control flight program and the flight program, and when the flight program is executed to the synchronous node position, the cooperative control flight program is automatically jumped to control the unmanned aerial vehicle group; by the method, the program is not directly replaced, the execution of the program is not influenced, the synchronous node jump control mode is adopted, the flight program and the cooperative control flight program are connected to form a whole, and compared with the traditional technical means, manual intervention is not needed when the program is changed, and the automatic replacement can be automatically performed after any control instruction is finished.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the present invention;
fig. 2 is a schematic structural diagram of the cooperative control apparatus in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Referring to fig. 1 to 2, to achieve the above object, the present invention provides a unmanned aerial vehicle cluster collaborative operation system, including: a plurality of control nodes; each unmanned aerial vehicle group is controlled by a control node, and the control node is used for acquiring the flight state of any unmanned aerial vehicle in the corresponding unmanned aerial vehicle group in real time and carrying out flight control on any unmanned aerial vehicle in the corresponding unmanned aerial vehicle group according to a set flight program; the control terminal is connected with the control nodes, and flight programs of the unmanned aerial vehicle group corresponding to any control node and the control authority and the modification range of the control authority of any control node are stored in the control terminal; the cooperative control equipment is used for connecting the control terminal, acquiring a flight program corresponding to any control node in the control terminal, and acquiring control authority corresponding to any control node in the control terminal and a modification range of the control authority; and the cooperative control apparatus is configured to: partially or completely modifying the flight program to form a cooperative control flight program and a synchronous node; writing the synchronous node into a synchronous program, synchronizing the cooperative control flight program and the synchronous program to a control terminal so as to be distributed to the corresponding control node, and sending a cooperative control instruction to the control terminal; the control terminal controls the synchronous program under the control node to initialize based on the cooperative control instruction, writes the synchronous node into the flight program while the flight program is executed so as to correlate the cooperative control flight program with the flight program, and automatically jumps to the cooperative control flight program to control the unmanned aerial vehicle group when the flight program is executed to the synchronous node position.
The control terminal is used for setting the control authority of any control node, setting the modification range of the control authority, and storing the flight program of the unmanned aerial vehicle group corresponding to any control node in the control terminal; in the invention, one unmanned plane group corresponds to one flight procedure, and the flight procedure is provided with a plurality of independent program segments, each program segment is used for configuring flight control of one unmanned plane, and each program segment is configured into a solid part and a non-solid part. The entity part comprises: an instruction part for controlling the unmanned aerial vehicle and taking codes as implementation main bodies; a logic relation part for executing setting on the instruction part, wherein the logic relation part comprises an association relation with other program segments; and a configuration section configured to configure the execution interface corresponding to the instruction section. The non-entity part is used for configuring the control authority of each program segment for carrying out flight control on the corresponding unmanned aerial vehicle and configuring the attribute required by the program segments to be identified, copied and edited.
Based on the above, when one unmanned aerial vehicle cluster has 4 unmanned aerial vehicles, unmanned aerial vehicle a, unmanned aerial vehicle B, unmanned aerial vehicle C and unmanned aerial vehicle D, correspondingly, the flight procedure has 4 independent program segments, namely program segment a, program segment B, program segment C and program segment D; and program segment a, program segment B, program segment C and program segment D are used to control unmanned aerial vehicle a, unmanned aerial vehicle B, unmanned aerial vehicle C and unmanned aerial vehicle D, respectively. The program section A, the program section B, the program section C and the program section D respectively comprise an entity part and a non-entity part; taking the program section a as an example, the entity part of the program section a includes an instruction part which controls the unmanned aerial vehicle a and takes codes as a main body, a logic relation part (including execution logic of instructions, interface logic corresponding to the instructions and the like) which performs execution setting on the instruction part, and the logic relation part includes association relations with other program sections, such as connection relations with the program section B, the program section C and the program section D, and association relations between execution logics.
In some embodiments, the code may be understood as a compilable execution program, which is framed by a DSP or a PLC, for forming specific instructions by which to control the flight of the drone.
In some embodiments, a comparison table is further provided in the control terminal, a plurality of storage directories are set according to the comparison table, and the flight program is set in the corresponding set storage directory.
In some embodiments, the cooperative control device obtains a flight program corresponding to any control node in the control terminal through mirroring.
In some embodiments, the cooperative control apparatus has: the system comprises a plurality of acquisition modules, a first control module and a second control module, wherein at least two first acquisition units and second acquisition units which are executed in parallel are arranged in each acquisition module, a mirror image path is arranged in each first acquisition unit, the first acquisition units are used for acquiring a flight program corresponding to any control node in a corresponding control terminal through the mirror image path, and the second acquisition units are used for acquiring control authority corresponding to any control node in the control terminal and a modification range of the control authority; the permission modification module is used for modifying the attribute of the flight program acquired by the mirror image according to the modification range of the control permission and modifying the attribute of the flight program into a readable and writable mode (the aim of the part is to modify the program into an editable mode and is used for correspondingly modifying the program according to the change of the environment information and the control instruction); the cooperative control configuration module is connected with the authority modification module and is used for partially or completely modifying the flight program with the modified attribute to form a cooperative control flight program; the synchronous setting module is used for connecting with the cooperative control configuration module, and is used for synchronously setting the cooperative control flight program and the flight program acquired by the mirror image, forming at least one synchronous node and writing the synchronous node into the synchronous program; and the synchronization module is used for synchronizing the cooperative control flight program and the synchronization program to the control terminal, distributing the cooperative control flight program and the synchronization program to the control node according to the acquired control authority of the control node, and sending a cooperative control instruction to the control terminal.
In some embodiments, the synchronization setting module comprises: a program execution monitor having at least a set of first and second execution monitoring units; the device comprises a judging unit; the first execution monitoring unit is used for decomposing the cooperative control flight program into a plurality of independent first execution program parts and acquiring first execution parts of the plurality of first execution program parts; the second execution monitoring unit is used for decomposing the flight program acquired by the mirror image into a plurality of independent second execution program parts and acquiring second execution parts of the plurality of second execution program parts; the judging unit is used for loading the first executing part and the second executing part correspondingly according to the decomposition sequence, judging whether the first executing part and the second executing part are identical, if so, indicating that the first executing part and the second executing part have identical executing instructions, not setting the synchronous node, and if not, indicating that the first executing part and the second executing part have different executing instructions, and setting the synchronous node.
In some embodiments, at least one of the plurality of acquisition modules is configured to acquire a lookup table set in the control terminal, and the mirror paths of the other acquisition modules are configured according to the lookup table.
In the above, the flight program corresponding to any control node in the corresponding control terminal is obtained through the mirror image, so that no interference is caused to the program itself, and meanwhile, the program obtained through the mirror image is correspondingly modified according to the environment information and the change of the control instruction, and the original program is not required to be modified. Assuming that an unmanned aerial vehicle cluster A and an unmanned aerial vehicle cluster B exist, the unmanned aerial vehicle cluster A comprises an unmanned aerial vehicle A1, an unmanned aerial vehicle B1, an unmanned aerial vehicle C1 and an unmanned aerial vehicle D1; the unmanned aerial vehicle cluster B comprises unmanned aerial vehicles A2, unmanned aerial vehicles B2, unmanned aerial vehicles C2 and unmanned aerial vehicles D2; the flight procedure A contained in the corresponding unmanned aerial vehicle cluster A comprises a procedure section A1, a procedure section B1, a procedure section C1 and a procedure section D1; the flight procedure B contained in the unmanned aerial vehicle cluster B comprises a procedure section A2, a procedure section B2, a procedure section C2 and a procedure section D2; when the unmanned aerial vehicle cluster A and the unmanned aerial vehicle cluster B are cooperated, the unmanned aerial vehicle C1 and the unmanned aerial vehicle D1 in the unmanned aerial vehicle cluster A are allocated to the unmanned aerial vehicle cluster B, at the moment, a flight program A and a flight program B are required to be acquired respectively, a program section C1 and a program section D1 in the flight program A are removed to form a cooperative control flight program A, a program section C1 and a program section D1 are added in the flight program B to form a cooperative control flight program B, and the cooperative control flight program B comprises a program section A2, a program section B2, a program section C2, a program section D2, a program section C1 and a program section D1; inputting the cooperative control flight program B and the flight program B to a program execution monitor, wherein the first execution monitoring unit loads a program section A2 in the flight program B, and the first execution monitoring unit loads the program section A2 in the cooperative control flight program B, and the judging unit judges that the cooperative control flight program B and the flight program B have the same execution instruction, so that the cooperative control flight program B does not have a synchronous node until the program section C1, and a synchronous node is required to be arranged at the place when the flight program B has no corresponding execution instruction;
then writing the synchronous node into a synchronous program, wherein the synchronous program is a programmable program set based on the comparison of the flight program B and the cooperative control flight program B, the synchronous program and the cooperative control flight program B are respectively input into a control terminal, and the control terminal is correspondingly distributed into the control node; and starting a synchronization program, wherein the synchronization program adds the synchronization node to the original flight program B of the control node according to a set rewrite instruction and the corresponding position of the original flight program B, the synchronization node can be understood as a synchronous link, and when the original flight program B executes any one of the program section A2, the program section B2, the program section C2 and the program section D2, the jump is automatically completed so as to cooperatively control the flight program B to carry out flight control of the unmanned aerial vehicle cluster B.
In the above description, the synchronization node is respectively arranged to the program segment A2, the program segment B2, the program segment C2 and the program segment D2 in the original execution program B, and the jump link is written in the program header commands of the program segment A2, the program segment B2, the program segment C2 and the program segment D2, so that when any one of the program segment A2, the program segment B2, the program segment C2 and the program segment D2 is executed, the jump is performed to the cooperative control flight program B, so as to cooperatively control the flight program B as the flight control of the unmanned aerial vehicle cluster B.
Compared with the prior art, the method adopts the mirror image to acquire the flight program, does not cause interference to the program, simultaneously correspondingly modifies the program acquired by the mirror image according to the change of the environment information and the control instruction, and forms the corresponding cooperative control flight program, the synchronous node is obtained by performing simulation execution judgment between the cooperative control flight program and the corresponding flight program, the synchronous node is written into the synchronous program, the cooperative control flight program and the synchronous program are synchronized to the control terminal so as to be distributed to the corresponding control node, and the cooperative control instruction is sent to the control terminal, the control terminal controls the synchronous program under the control node to initialize based on the cooperative control instruction, and the synchronous node is written into the flight program while the flight program is executed so as to correlate the cooperative control flight program and the flight program, and when the flight program is executed to the synchronous node position, the cooperative control flight program is automatically jumped to control the unmanned aerial vehicle group; by the method, the program is not directly replaced, the execution of the program is not influenced, the synchronous node jump control mode is adopted, the flight program and the cooperative control flight program are connected to form a whole, and compared with the traditional technical means, manual intervention is not needed when the program is changed, and the automatic replacement can be automatically performed after any control instruction is finished.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. Unmanned aerial vehicle cluster collaborative operation system, its characterized in that includes:
a plurality of control nodes;
each unmanned aerial vehicle group is controlled by a control node, and the control node is used for acquiring the flight state of any unmanned aerial vehicle in the corresponding unmanned aerial vehicle group in real time and carrying out flight control on any unmanned aerial vehicle in the corresponding unmanned aerial vehicle group according to a set flight program;
the control terminal is connected with the control nodes, and flight programs of the unmanned aerial vehicle group corresponding to any control node and the control authority and the modification range of the control authority of any control node are stored in the control terminal;
the cooperative control equipment is used for connecting the control terminal, acquiring a flight program corresponding to any control node in the control terminal, and acquiring control authority corresponding to any control node in the control terminal and a modification range of the control authority; and the cooperative control apparatus is configured to: partially or completely modifying the flight program to form a cooperative control flight program and a synchronous node; writing the synchronous node into a synchronous program, synchronizing the cooperative control flight program and the synchronous program to a control terminal so as to be distributed to the corresponding control node, and sending a cooperative control instruction to the control terminal;
the control terminal controls the synchronous program under the control node to initialize based on the cooperative control instruction, writes the synchronous node into the flight program while the flight program is executed so as to correlate the cooperative control flight program with the flight program, and automatically jumps to the cooperative control flight program to control the unmanned aerial vehicle group when the flight program is executed to the synchronous node position;
the cooperative control apparatus has:
the system comprises a plurality of acquisition modules, a first control module and a second control module, wherein at least two first acquisition units and second acquisition units which are executed in parallel are arranged in each acquisition module, a mirror image path is arranged in each first acquisition unit, the first acquisition units are used for acquiring a flight program corresponding to any control node in a corresponding control terminal through the mirror image path, and the second acquisition units are used for acquiring control authority corresponding to any control node in the control terminal and a modification range of the control authority;
the permission modification module is used for modifying the attribute of the flight program acquired by the mirror image according to the modification range of the control permission and modifying the attribute of the flight program into readable and writable;
the cooperative control configuration module is connected with the authority modification module and is used for partially or completely modifying the flight program with the modified attribute to form a cooperative control flight program;
the synchronous setting module is used for connecting with the cooperative control configuration module, and is used for synchronously setting the cooperative control flight program and the flight program acquired by the mirror image, forming at least one synchronous node and writing the synchronous node into the synchronous program;
and the synchronization module is used for synchronizing the cooperative control flight program and the synchronization program to the control terminal, distributing the cooperative control flight program and the synchronization program to the control node according to the acquired control authority of the control node, and sending a cooperative control instruction to the control terminal.
2. The unmanned aerial vehicle cluster collaborative operation system according to claim 1, wherein the control terminal is configured to set a control authority of any control node, set a modification range of the control authority, and store a flight program of an unmanned aerial vehicle cluster corresponding to any control node in the control terminal.
3. The unmanned aerial vehicle cluster collaborative operation system according to claim 2, wherein a lookup table is further provided in the control terminal, a plurality of storage directories are set according to the lookup table, and the flight program is set in the corresponding set storage directory.
4. The unmanned aerial vehicle cluster collaborative operation system according to claim 1, wherein the collaborative control apparatus obtains a flight procedure corresponding to any control node in a control terminal through mirroring.
5. The unmanned aerial vehicle cluster collaborative operation system according to claim 1, wherein the synchronization setup module comprises: a program execution monitor having at least a set of first and second execution monitoring units, and a judgment unit;
the first execution monitoring unit is used for decomposing the cooperative control flight program into a plurality of independent first execution program parts and acquiring first execution parts of the plurality of first execution program parts;
the second execution monitoring unit is used for decomposing the flight program acquired by the mirror image into a plurality of independent second execution program parts and acquiring second execution parts of the plurality of second execution program parts;
the judging unit is used for loading the first executing part and the second executing part correspondingly according to the decomposition sequence, judging whether the first executing part and the second executing part are identical, if so, indicating that the first executing part and the second executing part have identical executing instructions, not setting the synchronous node, and if not, indicating that the first executing part and the second executing part have different executing instructions, and setting the synchronous node.
6. The unmanned aerial vehicle cluster collaborative operation system according to claim 1, wherein at least one of the plurality of acquisition modules is configured to acquire a lookup table provided in a control terminal, and configure mirror paths of other acquisition modules according to the lookup table.
7. The unmanned aerial vehicle cluster co-operating system of claim 1, wherein the flight procedure has a plurality of independent program segments, each program segment for configuring flight control of one unmanned aerial vehicle, and each program segment is configured into a solid portion and a non-solid portion.
8. The unmanned aerial vehicle cluster collaborative operation system according to claim 7, wherein the entity portion comprises:
an instruction part for controlling the unmanned aerial vehicle and taking codes as implementation main bodies;
a logic relation part for executing setting on the instruction part, wherein the logic relation part comprises an association relation with other program segments;
and a configuration section configured to configure the execution interface corresponding to the instruction section.
9. The unmanned aerial vehicle cluster collaborative work system according to claim 7, wherein the non-solid portion is configured to configure control authority of each program segment for flight control of a corresponding unmanned aerial vehicle, and to configure attributes required for the program segments to be identified, copied, edited.
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