CN112396298B - Unmanned helicopter multi-machine collaborative task planning method - Google Patents
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Abstract
The invention discloses a multi-machine collaborative task planning method of an unmanned helicopter, which is used for carrying out multi-machine task planning by a ground measurement and control station or a command center, considers the requirements of task scenes and the scheduling of limited resources, combines the performance and the load performance of an unmanned helicopter platform, realizes the collaborative task planning of the multi-machine unmanned helicopter, increases the planning of multi-machine carried task loads and the autonomous avoidance function of a multi-machine flight route, improves the multi-machine task planning efficiency, and meets the requirements of multi-machine collaborative planning, test flight and simulation verification of the unmanned helicopter.
Description
Technical Field
The invention relates to the technical field of command and control, relates to multi-machine collaborative task planning application similar to an unmanned helicopter, in particular to a multi-machine collaborative task planning method for the unmanned helicopter, and can be widely applied to the design process of other aircrafts.
Background
The multi-machine collaborative task planning technology is an extension and promotion of a single-machine task planning technology, and is used as an important component of a modern national defense command control technology. The method is combined with a data chain communication technology and an artificial intelligence technology, and has wide application in a plurality of fields such as cluster collaborative planning, cluster collaborative simulation, cluster detection and intelligent obstacle avoidance. Along with the continuous improvement of the performance requirements of people on collaborative task planning, how to rapidly and safely realize multi-machine collaborative task planning based on task scenes, an effective planning route is provided for the collaborative execution of tasks by a plurality of unmanned helicopters, and the method becomes one of the research emphasis of unmanned helicopter command control technology.
The unmanned helicopter is an unmanned aerial vehicle operated by radio remote control equipment, the ground monitoring station is a command control center of the unmanned helicopter system and is responsible for implementing unmanned helicopter multi-machine collaborative resource allocation and collaborative task planning according to the existing combat resources and the task demands of the task scene aiming at the established task scene, the task planning result is injected into the unmanned helicopter system, the implementation of the established task planning is completed through unmanned helicopter flight, and the state monitoring and evaluation of the task are executed.
At present, a common unmanned helicopter mission planning method mainly combines a specific mission flight area to execute single-machine or multi-machine flight route planning, and the defects of the mission planning method mainly comprise the following steps: the demands of the existing resources on the task scene are not considered; the task load control during multi-machine cooperation is designed without combining the performance and operation requirements of the task load equipment. Therefore, this method cannot meet the requirement of the user for maximizing the collaborative performance of the task scenario.
Disclosure of Invention
The invention aims to provide a multi-machine collaborative task planning method for an unmanned helicopter, which is used for solving the problem that the conventional multi-machine collaborative task planning for the unmanned helicopter cannot meet the requirement of a user on the maximization of collaborative efficiency of a task scene.
In order to realize the tasks, the invention adopts the following technical scheme:
a multi-machine collaborative task planning method of an unmanned helicopter comprises the following steps:
step 1, setting information of a task scene, wherein the information comprises a departure point, a task area, a no-fly zone and a threat zone;
step 2, according to task scene setting, task resource assessment is implemented by combining the unmanned helicopter platform, load and fuel conditions, and task resources required by executing the task scene are calculated;
step 3, task resource scheduling management is implemented according to the task resource calculation result;
step 4, judging whether the actual condition of the current task resource meets the requirement of a calculation result, and if so, taking the calculation result of the task resource as task planning input;
step 5, aiming at the terrain complexity of the mission area, the no-fly area and the threat area, taking the flight performance and the load detection capacity of the unmanned helicopter platform into consideration, setting the flight heights and obstacle avoidance spaces of each stage of the unmanned helicopter, and calculating the cooperative flight route of a plurality of unmanned helicopters;
step 6, designing flight parameters of a flight route according to the flight performance of the unmanned helicopter and the requirements of a task scene by referring to the design logic of the unmanned helicopter flight control system;
step 7, aiming at the flight safety detection of the flight route facilities, implementing the optimization adjustment of the flight route according to the detection result, including adjusting the longitude and latitude, the flight height and the flight speed of the waypoint;
step 8, judging whether the planned route passes the security detection, if so, executing step 9, otherwise, re-executing step 7;
and 9, carrying out load task operation setting of the flight route, and setting a control instruction of unmanned helicopter airborne task equipment on the basis of the completed flight route to complete the planning and design of task load in the flight process.
Further, the task resource scheduling management implementation includes:
the number of unmanned helicopters, photoelectric load, weapon ammunition and fueling required to perform the task are distributed.
Further, the step 4 further includes:
if the actual condition of the current task resource does not meet the requirement of the calculation result, the actual condition of the current task resource is used as task planning input.
Further, the algorithm used for calculating the collaborative flight route of the plurality of unmanned helicopters is an A-search algorithm.
Further, the flight parameters include altitude, speed of flight.
Further, the flight safety detection of the flight line facility relates to flight altitude, flight speed, flight length, oil consumption evaluation and link vision.
Further, the method is loaded in the form of a computer program in the memory of a computer, the computer comprising a processor and the memory, the computer program realizing the steps of the method when executed by the processor.
Further, the method is loaded in a computer readable storage medium in the form of a computer program, which when executed by a processor, implements the steps of the method.
Compared with the prior art, the invention has the following technical characteristics:
according to the invention, according to the existing combat resources for the established task scene and the task demands of the task scene, the multi-machine collaborative resource allocation and collaborative task planning of the unmanned helicopter are realized, the resource efficiency required by the multi-machine collaborative task planning is improved, the functions of flight route safety detection and task load planning superposition are increased, and the user use requirements of the multi-machine collaborative task planning of the unmanned helicopter are met.
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FIG. 1 is a schematic flow chart of the method of the present invention.
Detailed Description
Aiming at the problems existing in the multi-machine collaborative task planning process of the existing unmanned helicopter, the invention provides a multi-machine collaborative task planning method of the unmanned helicopter, which is used for carrying out multi-machine task planning by a ground measurement and control station or a command center, considers the requirements of task scenes and the scheduling of limited resources, combines the performance and the load performance of an unmanned helicopter platform, realizes the collaborative task planning of the multi-machine unmanned helicopter, increases the planning of multi-machine carried task loads and the autonomous avoidance function of a multi-machine flight route, improves the multi-machine task planning efficiency, and meets the requirements of multi-machine collaborative planning, test flight and simulation verification of the unmanned helicopter. Referring to fig. 1, the multi-machine collaborative mission planning method of the unmanned helicopter provided by the invention comprises the following steps:
step 1, setting information of a task scene, including a departure point, a task area, a no-fly zone, a threat zone and the like; in this embodiment, the system includes 1 departure point, 1 mission area, a plurality of no-fly zones, and a plurality of threat zones.
Step 2, according to task scene setting, task resource assessment is implemented by combining the unmanned helicopter platform, load and fuel conditions, and task resources required by executing the task scene are calculated; for example, according to the distribution conditions and position information of a task area, a no-fly zone and a threat zone in a task scene, the distance required to fly in the task process of the unmanned helicopter can be calculated, and then the required oil filling amount is obtained by combining the performance of the unmanned helicopter; the weapon ammunition and the number are selected according to the number and the attribute of the target to be destroyed, and the corresponding photoelectric load is provided.
Step 3, task resource scheduling management is implemented according to the task resource calculation result, and the number of unmanned helicopters, photoelectric load, weapon ammunition and oil filling amount required by executing the task are distributed; namely, according to the calculation result, firstly, resource allocation is carried out, wherein N unmanned helicopters carry corresponding loads and fuel.
And step 4, judging whether the actual condition of the current task resource meets the requirement of a calculation result, if so, taking the calculation result of the task resource as task planning input, and if not, taking the actual condition of the current task resource as task planning input to acquire N unmanned helicopters for inputting the task planning object. The actual situation of the current task resource refers to the task resource actually possessed; when task resource calculation is performed in the steps 2 and 3, the calculated result is considered to finish the task preferentially mainly from the viewpoint of task scenes; however, the task resources of the base, including the number of unmanned helicopters, the number of weapons and ammunition, may not meet the requirement of the calculation result, i.e. the actual situation may be less than the calculation result, and in this case, the actual situation is used as the task planning input.
Step 5, aiming at the terrain complexity of the mission area, the no-fly area and the threat area, taking the flight performance and the load detection capacity of the unmanned helicopter platform into consideration, setting the flight heights and obstacle avoidance spaces of each stage of the unmanned helicopter, and calculating the cooperative flight route of a plurality of unmanned helicopters; the calculation method can be various route planning algorithms in the prior art, such as an A-search algorithm or a modified A-search algorithm.
And 6, designing the flight height and the flight speed of a flight route according to the flight performance of the unmanned helicopter and combining task scene requirements and referring to the design logic of the unmanned helicopter flight control system. For example, for a model unmanned helicopter, if the course of the unmanned helicopter passes a mountain obstacle, a judgment needs to be made, and if the performance of the unmanned helicopter is enough to climb to the obstacle, the course of the unmanned helicopter can be planned to pass the obstacle from above; otherwise the route may be designed to bypass the obstacle.
And 7, aiming at the flight safety detection of the flight route facility, the method relates to flight altitude, flight speed, flight length, oil consumption evaluation, link vision and the like, and performs optimization adjustment of the flight route according to the detection result, including adjustment of longitude and latitude, flight altitude and flight speed of the waypoint. And sequentially carrying out safety detection on the flight route of the ith unmanned helicopter, and dynamically adjusting the longitude and latitude, the flight height and the flight speed of the waypoint. For example, after detecting an unmanned helicopter, if the oil consumption is found to be greater than a predetermined plan, the current environmental information (wind speed, wind direction, etc.) can be referred to, and the course and speed of the unmanned helicopter can be adjusted; or if it is detected that some unmanned helicopter has deviated from the course, re-planning of the course is performed.
Step 8, judging whether the planned route passes the security detection, if so, executing step 9, otherwise, re-executing step 7;
step 9, carrying out load task operation setting of a flight route, setting a control instruction of unmanned helicopter airborne task equipment on the basis of the completed flight route, and completing planning and design of task load in the flight process; for example, the waypoint task parameters of each unmanned helicopter can be designed in sequence, corresponding tasks are executed after the corresponding waypoints are reached, and control instructions of related task equipment such as photoelectric loads, weapons and the like are set so as to facilitate control.
And step 10, completing the multi-machine collaborative task planning of the unmanned helicopter, ending the flow, and outputting a planning result.
In the scheme, data required by the task scene is determined according to the requirements of users. Through analyzing the task scene environment input by the user and considering the task demand, reasonable scheduling and management calculation of the combat resources are implemented, and the use efficiency of the combat resources is optimized; the input is comprehensively considered by combining the task area, the flight performance of the unmanned helicopter and the load performance of the unmanned helicopter, and the multi-machine collaborative flight route planning is implemented; and according to each flight stage of the unmanned helicopter executing the task, the task load operation in the planned route waypoints is added by combining the load operation flow, and the task planning superposition of the collaborative flight route is completed.
Example 1
The embodiment is an example of a multi-machine collaborative task planning system in a certain subject pre-research project, and the system is developed by using a Qt5.5.1 development tool and a C++ language based on a Windows 7 operating system. The system realizes the function of unmanned helicopter multi-machine collaborative task planning according to the method of the invention, and is applied to the simulation environment of a certain unmanned helicopter laboratory. Taking the system as an example, the implementation process of the method of the invention is as follows:
1) The user needs to set a task area, a plurality of no-fly areas and threat areas, a flying spot and a landing spot.
2) And calculating the number of unmanned helicopters and the number of carrying resources required by executing the task according to the size range of the task area.
3) And taking a resource calculation result (the number of unmanned helicopters) as input, combining task information (a task area, a threat area, a no-fly area, a flying point and a landing point), and adopting an improved A-search algorithm to implement calculation of a plurality of unmanned helicopter cooperative flight routes so as to acquire flight route information (position information) of the ith unmanned helicopter.
4) And setting flight route information (flight altitude and flight speed information) of the ith unmanned helicopter according to the flight performance design of the unmanned helicopter in the whole flight stage in combination with the task scene requirement.
5) The method comprises the steps of detecting and dynamically adjusting the safety of a flying route, and implementing the detection and the dynamic adjustment of the safety of the flying route of an ith unmanned helicopter:
a) According to the flying performance of the unmanned helicopter, the safety detection of the flying height and the flying speed is implemented, and the safety detection is dynamically adjusted until the safety detection meets the requirements;
b) According to unmanned helicopter flight control logic, implementing flight section length detection, and dynamically adjusting until meeting the requirements;
c) According to the data link transmission characteristics of the unmanned helicopter, implementing the vision and communication detection of the flight route link, and dynamically adjusting the vision and communication detection to meet the requirements;
d) According to the flight fuel consumption empirical data of the unmanned helicopter, implementing fuel consumption evaluation of a flight route, and dynamically adjusting the fuel consumption to meet the requirements;
e) Performing inter-aircraft collaborative obstacle avoidance evaluation with the flight route passing the safety detection, and dynamically adjusting to meet the requirements;
6) Carrying out load task operation setting of a flight route, and setting a control instruction of unmanned helicopter airborne task equipment on the basis of the completed flight route to complete planning and design of task load in the flight process; and sequentially setting the waypoint task parameters of the ith unmanned helicopter.
7) And (5) finishing task planning of all unmanned helicopters, outputting a multi-machine collaborative planning result, and finishing the flow.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced equally; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (8)
1. The unmanned helicopter multi-machine collaborative task planning method is characterized by comprising the following steps of:
step 1, setting information of a task scene, wherein the information comprises a departure point, a task area, a no-fly zone and a threat zone;
step 2, according to task scene setting, task resource assessment is implemented by combining the unmanned helicopter platform, load and fuel conditions, and task resources required by executing the task scene are calculated;
step 3, task resource scheduling management is implemented according to the task resource calculation result;
step 4, judging whether the actual condition of the current task resource meets the requirement of a calculation result, and if so, taking the calculation result of the task resource as task planning input;
step 5, aiming at the terrain complexity of the mission area, the no-fly area and the threat area, taking the flight performance and the load detection capacity of the unmanned helicopter platform into consideration, setting the flight heights and obstacle avoidance spaces of each stage of the unmanned helicopter, and calculating the cooperative flight route of a plurality of unmanned helicopters;
step 6, designing flight parameters of a flight route according to the flight performance of the unmanned helicopter and the requirements of a task scene by referring to the design logic of the unmanned helicopter flight control system;
step 7, aiming at the flight safety detection of the flight route facilities, implementing the optimization adjustment of the flight route according to the detection result, including adjusting the longitude and latitude, the flight height and the flight speed of the waypoint;
step 8, judging whether the planned route passes the security detection, if so, executing step 9, otherwise, re-executing step 7;
and 9, carrying out load task operation setting of the flight route, and setting a control instruction of unmanned helicopter airborne task equipment on the basis of the completed flight route to complete the planning and design of task load in the flight process.
2. The unmanned helicopter multi-machine collaborative mission planning method of claim 1, wherein the implementing mission resource scheduling management comprises:
the number of unmanned helicopters, photoelectric load, weapon ammunition and fueling required to perform the task are distributed.
3. The unmanned helicopter multi-machine collaborative mission planning method of claim 1, wherein step 4 further comprises:
if the actual condition of the current task resource does not meet the requirement of the calculation result, the actual condition of the current task resource is used as task planning input.
4. The unmanned helicopter multi-aircraft collaborative mission planning method according to claim 1, wherein the algorithm used for calculating the collaborative flight path of the plurality of unmanned helicopters is an a-search algorithm.
5. The unmanned helicopter multi-aircraft collaborative mission planning method of claim 1, wherein the flight parameters include altitude, speed of flight.
6. The unmanned helicopter multi-machine collaborative mission planning method according to claim 1, wherein the detection of flight safety for a flight line facility involves flight altitude, flight speed, flight length, fuel consumption assessment and link vision.
7. The unmanned helicopter multi-machine collaborative mission planning method of claim 1, wherein the method is loaded in a memory of a computer in the form of a computer program, the computer including a processor and the memory, the computer program implementing the steps of the method when executed by the processor.
8. The unmanned helicopter multi-machine collaborative mission planning method of claim 1, wherein the method is loaded in a computer readable storage medium in the form of a computer program which, when executed by a processor, performs the steps of the method.
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| CN114153156B (en) * | 2021-12-09 | 2023-11-28 | 北京航空航天大学 | Helicopter field oiling dispatching simulation system for forest and grassland fire prevention and extinguishment |
| CN115309186B (en) * | 2022-09-04 | 2024-11-22 | 中国电子科技集团公司第五十四研究所 | An online replanning method for unmanned aerial platform missions based on environment construction |
| CN115456486A (en) * | 2022-11-10 | 2022-12-09 | 深圳市道通智能航空技术股份有限公司 | Task planning method and device of cluster system and electronic equipment thereof |
| CN118863238A (en) * | 2024-06-27 | 2024-10-29 | 张华勇 | Collaborative mission planning method and system for large, medium, small and clustered unmanned aerial vehicles |
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