A method, system and device for achieving full autonomous operation of unmanned vehicle load

Abstract

The application provides a method, system and device for realizing full autonomous work of unmanned vehicle load, wherein the method comprises the following steps: receiving autonomous work parameters issued by a superior; wherein the autonomous work parameters are set according to an initial scene and a task type of the unmanned vehicle load; realizing a full autonomous work flow of the unmanned vehicle load according to the set autonomous work parameters; wherein the full autonomous work flow comprises a target autonomous reconnaissance flow and a target autonomous attack flow. Based on the superior autonomous work parameter setting, after the initial scene and the task type are input, the unmanned vehicle load can work autonomously, and a series of actions such as scanning, identification, tracking, distance measurement, screening, positioning, reporting, behavior identification, attack mapping and autonomous attack can be automatically performed, which can realize serial identification, control, decision and attack, greatly reduces the intervention of human work, improves the autonomous ability of the load, and realizes the purposes of'reconnaissance and attack integration' and 'person in loop'.

Description

Technical Field

[0001] This invention relates to the field of unmanned vehicle payload technology, and in particular to a method, system and apparatus for realizing fully autonomous operation of unmanned vehicle payloads. Background Technology

[0002] With the rapid development of modern military technology and the high-level confrontation of the new political landscape, armored equipment development is facing unprecedented crises such as high threats and difficulty in survival, prompting land-based equipment to develop more towards informatization, intelligence and unmanned operation in the future. Unmanned combat vehicle systems are undoubtedly an important part of this transformation.

[0003] Unmanned combat vehicles (UCVs) mainly consist of a chassis and various payloads mounted on it. They possess advantages such as high mobility and flexible deployment, enabling them to perform a wide range of combat missions. Their high level of intelligence allows them to independently conduct combat missions and engage the enemy. With the continuous development of power systems and information technology, UCVs have acquired the capability to participate in various combat missions, including border defense patrols, counter-terrorism and riot control peacekeeping, base gate guarding, and tactical reconnaissance and early warning.

[0004] The sensor configuration of unmanned combat vehicles typically includes photoelectric sensors and various weapon systems. These sensors allow the vehicle to perceive its surroundings, and operators can remotely control the onboard weapons to perform tasks. Driven by several local wars over the past decade, the development of automated remote-controlled weapon stations has been particularly rapid, and they have become a focus of research and development and deployment by major military powers.

[0005] In the context of the rapid development of communication, navigation, perception and artificial intelligence technologies, the working mode of unmanned vehicle payloads is gradually shifting from remote control to semi-autonomous and fully autonomous. Currently, most unmanned vehicle payloads are in remote control or semi-autonomous working mode, and the concept and research of fully autonomous operation are also constantly deepening.

[0006] Therefore, overcoming the shortcomings of the existing technology is an urgent problem to be solved in this technical field. Summary of the Invention

[0007] This invention provides a solution to the technical problem that most unmanned vehicle payloads are currently in a remote-controlled or semi-autonomous operating mode, and cannot achieve fully autonomous operation.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a method for realizing fully autonomous operation of an unmanned vehicle's onboard payload, comprising:

[0010] Receive autonomous operating parameters from superiors; these parameters are set based on the initial scenario and task type of the unmanned vehicle's payload.

[0011] Based on the set autonomous operating parameters, the unmanned vehicle payload achieves a fully autonomous workflow; the fully autonomous workflow includes autonomous target reconnaissance and autonomous target strike processes.

[0012] Preferably, the autonomous target reconnaissance process includes: autonomous search, autonomous target detection and identification, autonomous tracking, autonomous ranging, autonomous filtering, autonomous positioning, and autonomous information reporting.

[0013] Preferably, the target autonomous strike process includes: autonomous behavior recognition, autonomous strike mapping generation, and autonomous strike.

[0014] Preferably, the autonomous operating parameters include one or more of the following: scanning range, target category, whether laser ranging is enabled, whether autonomous strike is carried out, elevation coverage range, and mission start / stop conditions.

[0015] Preferably, the target autonomous reconnaissance process and the target autonomous strike process are based on a DSP platform.

[0016] Secondly, the present invention provides a system for realizing fully autonomous operation of unmanned vehicle-mounted payloads, using the method for realizing fully autonomous operation of unmanned vehicle-mounted payloads as described in the first aspect, comprising:

[0017] Autonomous working parameter receiving module; The autonomous working parameter receiving module receives autonomous working parameters issued by the superior and transmits the received autonomous working parameters to the autonomous reconnaissance module;

[0018] Autonomous target reconnaissance module; The autonomous target reconnaissance module conducts autonomous reconnaissance of targets based on autonomous operating parameters and transmits the autonomous reconnaissance results to the autonomous target strike module;

[0019] Autonomous Target Strike Module: Based on autonomous reconnaissance results, the autonomous target strike module autonomously maps and reports strike plans, and then autonomously strikes the targets.

[0020] Preferably, the autonomous operating parameter receiving module includes:

[0021] Structure ST1 is automatically updated when the autonomous working parameter receiving module receives autonomous working parameters issued by the superior.

[0022] Preferred, including:

[0023] Structure ST2, structure ST3, structure ST4, structure ST5 and structure ST7;

[0024] The periods of structures ST2, ST3, ST4, ST5 and ST7 correspond to timers T1, T2, T3, T4 and T5 respectively;

[0025] Specifically, structure ST2 receives intelligent image processing target detection information according to timer T1, structure ST3 receives intelligent image processing target behavior recognition results according to timer T2, structure ST4 receives vehicle navigation information according to timer T3, structure ST5 sends target information according to timer T4, and structure ST7 updates load servo control data packets according to timer T5.

[0026] Preferably, the autonomous target strike module includes:

[0027] Structure ST6: When the autonomous target strike module is ready to strike the target, structure ST6 automatically sends the strike plan.

[0028] Thirdly, the present invention provides a device for realizing fully autonomous operation of an unmanned vehicle-mounted payload, using the method for realizing fully autonomous operation of an unmanned vehicle-mounted payload as described in the first aspect, comprising:

[0029] At least one processor; and,

[0030] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the processor for performing the method for achieving fully autonomous operation of an unmanned vehicle payload as described in the first aspect.

[0031] In view of the shortcomings of the prior art, the beneficial effects that the present invention can achieve are as follows:

[0032] Based on the autonomous working parameter settings of the superior, after inputting the initial scene and task type, the unmanned vehicle-mounted payload can work fully autonomously, automatically performing a series of actions such as scanning, identification, tracking, ranging, filtering, positioning, reporting, behavior recognition, strike mapping, and autonomous strike. It can identify, control, make decisions, and strike in sequence, greatly reducing human intervention and improving the payload's autonomous capability, achieving the goals of "reconnaissance and strike integration" and "human presence in the loop". Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0034] Figure 1This is a schematic diagram of a method for achieving fully autonomous operation of payloads on unmanned vehicles.

[0035] Figure 2 This is a schematic diagram illustrating a method for achieving fully autonomous operation of payloads on unmanned vehicles.

[0036] Figure 3 This is a schematic diagram of a device that enables fully autonomous operation of payloads on unmanned vehicles. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0038] In the description of this invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and do not require that this invention must be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0039] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Example 1:

[0041] To address the technical problem that traditional unmanned vehicle payloads cannot achieve fully autonomous operation, this embodiment 1 provides a method for achieving fully autonomous operation of unmanned vehicle payloads, such as... Figure 1 As shown, it includes:

[0042] S100 receives autonomous operating parameters from its superior; these parameters are set based on the initial scenario and task type of the unmanned vehicle's payload.

[0043] In this step, the autonomous operating parameters received from the superior can be received via wired or wireless methods. These autonomous operating parameters include one or more of the following: scanning range, target category, whether laser ranging is enabled, whether autonomous strike is initiated, elevation coverage, and mission start / stop conditions. The initial scenario includes, but is not limited to, complex and varied environments such as cities, plains, hills, and deserts. The mission type includes, but is not limited to, border defense patrols, counter-terrorism and riot control peacekeeping, base gate guarding, and tactical reconnaissance and early warning, as described in the background technology. By pre-setting the initial scenario and mission type for the unmanned vehicle-mounted payload, the abstract initial scenario and mission type are transformed into concrete ones, enabling the fully autonomous operation of the unmanned vehicle-mounted payload to be achieved quickly and accurately.

[0044] The S200 achieves a fully autonomous workflow for its unmanned vehicle payload based on the set autonomous operating parameters; the fully autonomous workflow includes autonomous target reconnaissance and autonomous target strike processes.

[0045] In this step, the autonomous target reconnaissance process and the autonomous target strike process are based on the DSP platform. The fully autonomous workflow of the unmanned vehicle payload is realized through the application of DSP (Digital Signal Processing) technology.

[0046] In specific implementation, the autonomous target reconnaissance process includes: autonomous search, autonomous target detection and identification, autonomous tracking, autonomous ranging, autonomous filtering, autonomous positioning, and autonomous information reporting; the autonomous target strike process includes: autonomous behavior recognition, autonomous strike mapping generation, and autonomous strike.

[0047] The following section explains each step in the above process:

[0048] Autonomous Search: Based on the scanning interval values ​​in the autonomous work parameters issued by the superior, perform a cyclic scanning action. The cyclic scanning action includes sector scanning and perimeter scanning. If this item is missing in the autonomous work parameters issued by the superior, perimeter scanning will be performed automatically.

[0049] Autonomous target detection and recognition: Based on the target categories in the autonomous work parameters issued by the superior, the corresponding type of target is detected in a targeted manner. If the content of this item is missing in the autonomous work parameters issued by the superior, the detection and recognition of all types will be carried out automatically.

[0050] Autonomous tracking: After detecting a specified target type, image tracking of the target is initiated. Considering the robustness of servo tracking, servo tracking is generally initiated after the target leaves the edge of the field of view.

[0051] Autonomous ranging: Based on whether laser ranging is enabled in the autonomous working parameters issued by the superior, select whether to enable or disable laser ranging after the target tracking is stable. If this item is missing in the autonomous working parameters issued by the superior, laser ranging will be automatically enabled after the tracking is stable.

[0052] Self-selection: Calculate the ratio of the target's laser range measurement value to the target's distance value derived from the image; targets exceeding the normal ratio are removed.

[0053] Autonomous positioning: Based on the target's azimuth, elevation, and distance values, as well as the vehicle's longitude, latitude, and attitude information, calculate the target's latitude and longitude information;

[0054] Autonomous information reporting: Real-time transmission of target images, and calculation and transmission of target category, distance, latitude and longitude information;

[0055] Autonomous Behavior Recognition: Whether to initiate autonomous strikes based on the autonomous work parameters from the superior authority, and whether to enable or disable target behavior recognition;

[0056] Autonomous generation of strike mapping: Report strike plans based on the agreed target behavior and strike type mapping;

[0057] Autonomous strike: After the strike plan is submitted and approved (without human intervention or veto), the corresponding strike will be carried out.

[0058] like Figure 2 The diagram shown is a schematic representation of a method for achieving fully autonomous operation of a vehicle's payload.

[0059] This embodiment 1 provides a method for achieving fully autonomous operation of unmanned vehicle-mounted payloads, the execution steps of which are as follows:

[0060] Step 0: Receive autonomous working parameters.

[0061] 1) Receive autonomous working parameters issued by the superior to provide criteria for subsequent actions.

[0062] Step 1: Perform a circumferential scan or a sector scan of a designated area.

[0063] 1) Based on the autonomous working parameters and scanning range issued by the superior, issue a servo control to start the scanning mode.

[0064] Step 2: Targets of the specified type were detected.

[0065] 1) Intelligent image processing selects the target category for recognition based on the autonomous working parameters issued by the superior and filters out targets of non-specified types;

[0066] 2) When a target of a specified type enters the field of view, image tracking is started, the deviation between the target and the center of the image is judged in real time, and servo control is sent in real time.

[0067] Step 3: Enter servo tracking.

[0068] 1) Servo control starts servo tracking after determining that the target is moving away from the edge of the field of view and approaching the center area of ​​the target based on the target deviation feedback from intelligent image processing.

[0069] Step 4: Laser ranging.

[0070] 1) After entering tracking mode, the servo control continuously checks the target tracking stability.

[0071] 2) Once the target tracking is stable, activate laser ranging.

[0072] Step 5: Filtering.

[0073] 1) After laser ranging, obtain the target distance digital D1, calculate its ratio with the intelligent image processing distance estimation value D2. When the ratio exceeds the range of [1 / 4, 4], the target is identified as a false target and eliminated; when the ratio is within the range of [1 / 4, 4], the target is identified as the designated target.

[0074] Step 6: Locate.

[0075] 1) Once a target is selected, the latitude, longitude and elevation information of the target is calculated using the current target laser range value D1, the target's current geodetic azimuth and elevation angles, and the current vehicle's latitude, longitude, elevation and attitude information as inputs.

[0076] Step 7: Information reporting.

[0077] 1) Periodically report comprehensive target information;

[0078] Step 8: Behavior recognition.

[0079] 1) Depending on whether autonomous strikes are required in the autonomous work parameters issued by the superior, enable or disable the behavior recognition function after tracking stabilizes.

[0080] Step 9: Strike Mapping.

[0081] 1) After receiving the intelligent image processing behavior recognition results, report the strike plan according to the strike mapping.

[0082] Step 10: Strike.

[0083] 1) After the strike plan is reported, for non-lethal weapons, if no permission is received within the set time, the strike will be initiated automatically. For lethal weapons, permission from the superior is required before the strike can be carried out.

[0084] Example 2:

[0085] Based on Embodiment 1 and using the same overall technical solution, Embodiment 2 provides a system for achieving fully autonomous operation of unmanned vehicle-mounted payloads. This system uses the method for achieving fully autonomous operation of unmanned vehicle-mounted payloads described in Embodiment 1, including:

[0086] The system comprises an autonomous operating parameter receiving module, a target autonomous reconnaissance module, and a target autonomous strike module. The autonomous operating parameter receiving module receives autonomous operating parameters issued by the superior authority and transmits the received autonomous operating parameters to the autonomous reconnaissance module. The target autonomous reconnaissance module conducts autonomous reconnaissance of targets based on the autonomous operating parameters and transmits the reconnaissance results to the target autonomous strike module. The target autonomous strike module autonomously maps and reports strike plans based on the reconnaissance results and conducts autonomous strikes on targets.

[0087] As one implementation method, the autonomous working parameter receiving module, the autonomous target reconnaissance module, and the autonomous target strike module can coordinate and communicate with each other through the setting of structures and timers.

[0088] In specific implementation, the autonomous working parameter receiving module includes: structure ST1, which is automatically updated when the autonomous working parameter receiving module receives autonomous working parameters issued by the superior. The autonomous working parameters mainly include variables such as scanning range, target type, whether laser ranging is enabled, whether autonomous strike is carried out, elevation coverage range, and mission start and stop conditions.

[0089] The target autonomous reconnaissance module includes structures ST2, ST3, ST4, ST5, and ST7. The periods of each structure ST2, ST3, ST4, ST5, and ST7 correspond to timers T1, T2, T3, T4, and T5, respectively. Structure ST2 receives target detection information from intelligent image processing based on timer T1, mainly including target type, coordinates of the upper left and lower right corners of the target recognition box (current field of view pixels), estimated target distance, and target confidence level. After timer T1 is set, this information is sent in real-time, one frame at a time for each detection and recognition frame. Structure ST3 receives target behavior recognition results from intelligent image processing based on timer T2, mainly including target type and target behavior information. Timer T2... After setup, the above information is sent in real time, and the behavior recognition results are sent immediately upon generation. Structure ST4 receives vehicle navigation information according to timer T3, mainly including the vehicle's longitude, latitude, elevation, heading, pitch, roll, three-axis speed and acceleration, etc. After timer T3 is set, the above information is sent periodically, generally not less than 50Hz. Structure ST5 sends target information according to timer T4, mainly including target type, longitude, latitude and longitude, behavior category, etc. After timer T4 is set, the above information is sent periodically, generally not less than 10Hz. Structure ST7 updates the load servo control data packet according to timer T5, mainly including information such as adjustment position, tracking stability, laser ranging, optical axis geodetic azimuth, pitch pointing, TV / infrared field of view, laser ranging value, angle measurement value of each axis system, gyro rate value of each axis system, axis system drive status, weapon status, etc.

[0090] The autonomous target strike module includes a structure ST6. When the autonomous target strike module is ready to strike a target, the structure ST6 automatically sends a strike plan, which mainly includes information such as weapon type selection and strike method.

[0091] In addition, the entire autonomous vehicle payload system also includes a timer T6, which is the cycle of the autonomous workflow and is executed once every 50ms.

[0092] Example 3:

[0093] Based on Embodiment 1 and using the same overall technical solution, Embodiment 3 provides a device for realizing fully autonomous operation of unmanned vehicle-mounted payloads, such as... Figure 3 As shown, the device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the processor to perform the method for achieving fully autonomous operation of unmanned vehicle payloads as described in Embodiment 1.

[0094] In summary, the present invention provides a method, system, and apparatus for achieving fully autonomous operation of unmanned vehicle-mounted payloads. Based on the autonomous operation parameter settings of the upper level, after inputting the initial scenario and task type, the unmanned vehicle-mounted payload can operate fully autonomously, automatically performing a series of actions such as scanning, identification, tracking, ranging, filtering, positioning, reporting, behavior recognition, strike mapping, and autonomous strike. It can sequentially identify, control, make decisions, and strike, greatly reducing human intervention, improving the payload's autonomous capability, and achieving the goals of "integrated reconnaissance and strike" and "human presence in the loop."

[0095] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0096] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, electronic devices, or computer software program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, systems, electronic devices, or computer software program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

Claims

1. A method for achieving fully autonomous operation of a payload on an unmanned vehicle, characterized in that, include: Receive autonomous operating parameters from superiors; these parameters are set based on the initial scenario and task type of the unmanned vehicle's payload. Based on the set autonomous operating parameters, the fully autonomous workflow of the unmanned vehicle payload is realized; the fully autonomous workflow includes autonomous target reconnaissance and autonomous target attack. The autonomous target reconnaissance process includes: autonomous search, autonomous target detection and identification, autonomous tracking, autonomous ranging, autonomous filtering, autonomous positioning, and autonomous information reporting. The target autonomous strike process includes: autonomous behavior recognition, autonomous strike mapping generation, and autonomous strike. The autonomous search includes performing a cyclic scanning action based on the scanning interval values ​​in the autonomous working parameters issued by the superior. The cyclic scanning action includes sector scanning and periodic scanning. If this item is missing in the autonomous working parameters issued by the superior, a periodic scanning will be performed automatically. The autonomous target detection and recognition includes detecting the corresponding type of target based on the target category in the autonomous working parameters issued by the superior. If the content of this item is missing in the autonomous working parameters issued by the superior, the detection and recognition of all types will be carried out automatically. The autonomous tracking includes detecting a specified target type, then performing image tracking to identify the target, and starting servo tracking after the target leaves the edge of the field of view. The autonomous ranging includes selecting whether to enable laser ranging after target tracking is stable, based on whether laser ranging is enabled in the autonomous working parameters issued by the superior. If this item is missing in the autonomous working parameters issued by the superior, laser ranging will be automatically enabled after tracking is stable. The autonomous screening process includes calculating the ratio of the target's laser range value to the target's distance value derived from the image; targets with ratios outside the range of [1 / 4, 4] are removed. The autonomous positioning includes calculating the target's latitude and longitude information based on the target's geoid azimuth, pitch, and distance values, as well as the vehicle's longitude, latitude, and attitude information; The autonomous information reporting includes real-time transmission of target images and calculation and transmission of target category, distance, and latitude / longitude information; The autonomous behavior recognition includes whether to carry out autonomous strikes based on the autonomous work parameters of the superior, and whether to enable or disable target behavior recognition. The autonomously generated strike mapping includes mapping target behavior to strike type and reporting strike plans; The autonomous strike includes, after a strike plan is submitted and approved, the strike plan is rejected without human intervention, and the corresponding strike is carried out. The autonomous operating parameters include one or more of the following: scanning range, target category, whether laser ranging is enabled, whether autonomous strike is carried out, elevation coverage, and mission start / stop conditions.

2. The method for achieving fully autonomous operation of unmanned vehicle payloads according to claim 1, characterized in that, The autonomous target reconnaissance process and autonomous target strike process are based on the DSP platform.

3. A system for realizing fully autonomous operation of unmanned vehicle-mounted payloads, characterized in that, The method for achieving fully autonomous operation of unmanned vehicle payloads according to any one of claims 1-2 includes: an autonomous operation parameter receiving module; the autonomous operation parameter receiving module receives autonomous operation parameters issued by the superior and transmits the received autonomous operation parameters to the autonomous reconnaissance module; Autonomous target reconnaissance module; The autonomous target reconnaissance module conducts autonomous reconnaissance of targets based on autonomous operating parameters and transmits the autonomous reconnaissance results to the autonomous target strike module; Autonomous Target Strike Module: Based on autonomous reconnaissance results, the autonomous target strike module autonomously maps and reports strike plans, and then autonomously strikes the targets. The autonomous working parameter receiving module includes: a structure ST1, which is automatically updated when the autonomous working parameter receiving module receives autonomous working parameters issued by the superior. The target autonomous reconnaissance module includes: structure ST2, structure ST3, structure ST4, structure ST5 and structure ST7; The periods of structures ST2, ST3, ST4, ST5 and ST7 correspond to timers T1, T2, T3, T4 and T5 respectively; Among them, structure ST2 receives intelligent image processing detection target information according to timer T1, structure ST3 receives intelligent image processing target behavior recognition results according to timer T2, structure ST4 receives vehicle navigation information according to timer T3, structure ST5 sends target information according to timer T4, and structure ST7 updates load servo control data packets according to timer T5. The target autonomous strike module includes a structure ST6; when the target autonomous strike module is ready to strike the target, the structure ST6 automatically sends the strike plan.

4. A device for realizing fully autonomous operation of unmanned vehicle-mounted payloads, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the processor for controlling the method for achieving fully autonomous operation of the unmanned vehicle payload as described in any one of claims 1-2.

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