An unmanned cluster cooperative control system, operation method and extension method thereof

Abstract

The application discloses an unmanned cluster cooperative control system, which comprises a detection and sensing function module, an information fusion function module, a decision-making and planning function module, a control and execution function module, a task management function module and an information interaction function module. Based on a blackboard communication mechanism, inter-process communication and UDP communication technology, the information interaction function module is taken as the core of data interaction management, and information interaction between the function modules and different unmanned platforms is realized through a cooperative information interaction protocol and a data sharing pool. According to the differences in the execution speed and running frequency of algorithms in the function modules and task requirements, the different cooperative control function modules are designed into three running modes, namely, a periodic mode, a responsive mode and a sequential mode, so that the differential operation of different algorithm programs is realized. Based on the above control system and running method, the convenient expansion of the unmanned cluster cooperative control system can be realized through the addition of function modules, the establishment of communication channels and the design of a running trigger mechanism.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) swarm control technology, specifically to an unmanned swarm collaborative control system and its operation and extension methods. Background Technology

[0002] In recent years, unmanned systems such as drones, unmanned vehicles, and unmanned ships have developed rapidly and have been widely used and played an important role in both military and civilian fields. Unmanned swarm systems have significant advantages in performing complex and changing tasks such as cooperative search, cooperative detection, and cooperative strike, but the difficulty of controlling them increases dramatically with the increase in swarm size and mission complexity.

[0003] Current research on unmanned swarm systems mainly focuses on swarm cooperation algorithms and their ground simulation verification systems, and has already achieved the design and verification capabilities for simple swarm configurations. Regarding cooperation algorithms, CN116736883A proposes an intelligent cooperative motion planning method based on a prediction-decision strategy to solve the problem of unmanned aerial swarm cooperatively attacking dynamic targets, realizing the design of an intelligent cooperative motion planning method for swarms; CN115993780A discloses a time-varying formation optimization tracking control method and system for EL-type nonlinear swarm systems to solve the formation control problem of nonlinear swarm systems under uncertain information, realizing the design of a time-varying formation configuration maintenance method. In the field of ground simulation verification systems, CN113722912A invented a virtual-real integrated unmanned swarm collaborative verification system to solve the problem of hardware-in-the-loop demonstration and verification of unmanned swarm collaborative algorithms under complex tasks. It realizes the design of scalable system architecture, distributed data interaction mechanism and modular functions of simulation system. CN116500912A provides a distributed architecture unmanned aerial vehicle swarm hardware-in-the-loop simulation device to solve the problem of inability to guarantee real-time performance and authenticity due to inconsistency between the swarm simulation system and the actual swarm architecture. It realizes the design of hardware layer, simulation software layer and algorithm application layer for simulating swarm collaborative functions.

[0004] However, the aforementioned inventions lack a systematic design for the collaborative control system of individual unmanned platforms, employing only a serial loop mode of "data reception → cluster control task calculation → control execution" or a simple parallel processing mode of "multi-threading + interrupt + callback functions." Therefore, their adaptability and scalability for complex collaborative tasks are insufficient. To achieve complex collaborative tasks, it is necessary to rationally design the operation modes of various collaborative algorithms, such as collaborative detection, collaborative fusion, collaborative planning, collaborative formation, collaborative networking, and collaborative guidance, as well as the information interaction methods between collaborative algorithms and between individual unmanned platforms. However, because the execution speed, operating frequency, and information interaction requirements of different collaborative algorithms, as well as the software and hardware system design for algorithm operation, change with task requirements, designing a control system for individual unmanned platforms with complex collaborative functions presents a significant challenge. Therefore, this invention designs an unmanned swarm collaborative control system and its operation and extension methods to realize the collaborative function of the individual unmanned platform control system, facilitating the rapid implementation and flexible expansion of complex collaborative tasks in unmanned swarms. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing individual control systems for unmanned platforms, which are unable to meet the rapid and flexible expansion requirements of complex collaborative tasks in unmanned swarms. This invention provides a collaborative control system for unmanned swarms, along with its operation and expansion methods, to improve the ease of designing collaborative functions for unmanned swarms. The beneficial effects of this invention are: 1) It constructs a collaborative control system with basic functional modules including "detection and perception module - information fusion module - decision-making and planning module - control execution module - task management module - information interaction module," providing support for various functions such as observation, judgment, decision-making, execution, evaluation, and information interaction, facilitating the design and expansion of complex collaborative functions; 2) Based on blackboard communication mechanisms, inter-process communication, and UDP communication technologies, it constructs a collaborative information interaction protocol and data sharing pool with the information interaction module as its core, facilitating the separate design and parallel operation of collaborative functional modules, as well as their distributed deployment on airborne controllers with multi-core processors; 3) Based on differences in execution speed, operating frequency, and task requirements, different collaborative control functional modules are designed into three operating modes: periodic, responsive, and sequential, enabling differentiated operation of different algorithm programs, reducing the ineffective use of limited computing resources, and improving the responsiveness of the collaborative control system.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] An unmanned swarm collaborative control system comprises multiple functional modules, including: a detection and sensing module, an information fusion module, a decision-making and planning module, a control and execution module, a task management module, and an information interaction module. The information interaction mechanism of the unmanned swarm collaborative control system includes information interaction between functional modules and between different unmanned platforms. The information interaction module serves as the core of data interaction management, implemented through a collaborative information interaction protocol and a data sharing pool. Different functional modules are designed using different processes or threads, and their information interaction is based on a blackboard communication mechanism. Centered on the information interaction module, inter-process communication channels are constructed between the information interaction module and other functional modules based on inter-process communication technology. UDP communication channels are constructed between the unmanned platform containing the functional module and other unmanned platforms based on UDP communication technology and an inter-machine communication network.

[0008] Furthermore, the unmanned swarm collaborative control system includes at least one or more unmanned platforms such as drones, unmanned vehicles, and unmanned ships. The detection and perception module deploys algorithms such as sensor information processing and target recognition to process the detection sensor data of the unmanned platform where the module is located and output detection information such as environmental status information and target status information. The information fusion module deploys algorithms such as multi-source information fusion, target estimation, and intent judgment to perform data fusion calculations from multiple unmanned platforms and output fusion information such as consistent target status estimation, target trajectory prediction, and intent judgment. The decision-making and planning module deploys algorithms such as target allocation, path planning, and game theory decision-making to make decisions and plans such as unmanned platform task target specification, motion path design, and execution action calculation. The control and execution module deploys algorithms such as formation control and guidance control to perform precise control of the specific movement of the unmanned platform. The task management module deploys algorithms such as task evaluation and task process management to perform task status management such as monitoring and evaluation of cluster task status. The information interaction module deploys algorithms such as network communication management and information transmission and reception processing to manage multi-directional data transmission between collaborative control modules and between unmanned platforms.

[0009] This invention also provides an extension method for an unmanned swarm cooperative control system, the method being:

[0010] Step 1: Add one or more new functional modules to the control system according to the task requirements, and create a separate process or thread for each new functional module;

[0011] Step 2: Add the input and output information required by the new functional module to the data sharing pool in the information interaction functional module, and establish a communication channel based on inter-process communication technology;

[0012] Step 3: Specify one of the following operating modes for the new functional module: periodic, responsive, or sequential, and design the operation triggering method;

[0013] Step 4: Make adaptive adjustments or modifications to the functional modules in the control system that are related to the newly added functional modules. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of an unmanned swarm cooperative control system according to an embodiment of the present invention;

[0015] Figure 2 This is a schematic diagram of the information interaction method of an unmanned swarm collaborative control system in one embodiment of the present invention.

[0016] Figure 3 This is a schematic diagram of the frame structure of a collaborative information interaction protocol in one embodiment of the present invention. Detailed Implementation

[0017] The following is in conjunction with the appendix Figures 1-3 The present invention will be further described in detail below with reference to specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the embodiments of the present invention. Please refer to the accompanying drawings to make the objectives, features, and advantages of the present invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives achieved by the present invention, should still fall within the scope of the technical content disclosed in the present invention.

[0018] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, unmanned swarm cooperative control system, article, or field device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, unmanned swarm cooperative control system, article, or field device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, unmanned swarm cooperative control system, article, or field device that includes said element.

[0019] Please see Figure 1 As shown, this embodiment provides an unmanned swarm collaborative control system, which includes at least a detection and perception module 101, an information fusion module 102, a decision-making and planning module 103, a control execution module 104, a task management module 105, and an information interaction module 106. The unmanned swarm collaborative control system includes at least one or more unmanned platforms such as drones, unmanned vehicles, and unmanned ships. The detection and perception module 101 deploys algorithms such as sensor information processing algorithms and target recognition algorithms to process the detection sensor data of the unmanned platform where the module is located and output detection information such as environmental state information and target state information. The information fusion module 102 deploys algorithms such as multi-source information fusion algorithms, target estimation algorithms, and intent judgment algorithms to perform data fusion calculations from multiple unmanned platforms and output fusion information such as target state consistency fusion estimation, target trajectory prediction, and intent judgment. The decision-making and planning module 103 deploys algorithms such as target allocation algorithms, path planning algorithms, and game theory decision-making algorithms. The algorithm performs decision-making and planning for unmanned platform tasks, including target specification, motion path design, and action calculation. The control execution module 104 deploys algorithms such as formation control and guidance control to precisely control the specific movements of the unmanned platform. The task management module 105 deploys algorithms such as task evaluation and task process management to monitor and evaluate the status of cluster tasks and manage task status. The information interaction module 106 deploys algorithms such as network communication management and information transmission and processing to manage multi-directional data transmission between collaborative control modules and between unmanned platforms.

[0020] In other aspects, this embodiment also provides a method for operating an unmanned swarm collaborative control system, realizing information interaction and operation management of the unmanned swarm control system.

[0021] The information interaction methods of the unmanned swarm collaborative control system include information interaction methods between functional modules and between different unmanned platforms. The information interaction functional module 106 is the core of data interaction management, which is realized through collaborative information interaction protocol and data sharing pool.

[0022] Further, please refer to Figure 2 As shown, different functional modules are designed using different processes or threads, and their information interaction is based on a blackboard communication mechanism. Centered on the information interaction functional module 106, inter-process communication channels are constructed between the information interaction functional module and other functional modules based on inter-process communication technology. UDP communication channels are constructed between the unmanned platform where the functional module is located and other unmanned platforms based on UDP communication technology and an inter-machine communication network. The detection and perception functional module 101, information fusion functional module 102, decision planning functional module 103, control execution functional module 104, and task management functional module 105 do not directly interact with each other, nor with other unmanned platforms. Their information interaction is accomplished by the information interaction functional module 106 polling and reading / writing the inter-process communication channels and UDP communication channels, and by performing read / write operations on the data sharing pool based on a collaborative information interaction protocol. This approach facilitates the separate design and parallel operation of collaborative functional modules, and also allows for the deployment of collaborative functional modules on different processing cores on the multi-core processor's onboard controller, improving computational efficiency.

[0023] Further, please refer to Figure 3 As shown, the collaborative information interaction protocol has a frame structure consisting of four parts: frame header, information header, data segment, and frame trailer. The frame header occupies 2 bytes, the information header occupies K bytes, the data segment occupies N bytes, and the frame trailer occupies 1 byte. The information header at least includes frame content markers, source address, destination address, data operation, and data segment length information. By defining different data operations, request or write data operations between functional modules or between different unmanned platforms can be specified, defining the content and method of information interaction.

[0024] Furthermore, the data sharing pool stores the set of variables that all functional modules need to use during runtime, is included in the collaborative information interaction functional module 106, and is managed by it for unified read and write operations.

[0025] Furthermore, the functional modules are designed with three operating modes—periodic, responsive, and sequential—based on differences in the execution speed and frequency of the algorithms within each module and task requirements. The detection and sensing module 101, information fusion module 102, control execution module 104, and information interaction module 106 are designed for periodic operation, running cyclically at a fixed frequency. The decision-making and planning module 103 is designed for responsive operation, running only once when a given signal or call is received, according to task requirements. The task management module 105 is designed for sequential operation, executing sequentially according to predetermined patterns based on changes in task status. This differentiated operation of the various functional modules reduces the ineffective use of limited computing resources and enhances the responsiveness of the collaborative control system.

[0026] Furthermore, the detection and perception module 101 provides information input to the information fusion module 102, and the information fusion module 102 provides information input to the decision planning module 103, the control execution module 104, and the task management module 105. The decision planning module 103 provides information input to the control execution module 104 and the task management module 105. The control execution module 104 updates the status by controlling the unmanned platform. The task management module 105 triggers the activation of relevant functions or algorithms in other functional modules according to the task status to achieve the sequential execution of the designed tasks. The information interaction module 106 performs information reading and writing interaction with other functional modules according to the collaborative information interaction protocol.

[0027] Based on the same inventive concept, this embodiment also provides an extended method for an unmanned swarm cooperative control system, the method being:

[0028] Step 1: Add one or more new functional modules to the control system according to the task requirements, and create a separate process or thread for each new functional module;

[0029] Step 2: Add the input and output information required by the new functional module to the data sharing pool in the information interaction functional module 106, and establish a communication channel based on inter-process communication technology;

[0030] Step 3: Specify one of the following operating modes for the new functional module: periodic, responsive, or sequential, and design a running trigger mechanism;

[0031] Step 4: Make adaptive adjustments or modifications to the functional modules in the control system that are related to the newly added functional modules.

[0032] Compared with the prior art, the present invention has at least one of the following advantages:

[0033] 1) Construct a collaborative control system with basic functional modules such as "detection and perception module - information fusion module - decision planning module - control execution module - task management module - information interaction module" to support the realization of multiple functions such as observation, judgment, decision-making, execution, evaluation and information interaction, and facilitate the design and expansion of complex collaborative functions;

[0034] 2) Based on blackboard communication mechanism, inter-process communication and UDP communication technology, a collaborative information interaction protocol and data sharing pool with information interaction function module as the core are constructed to facilitate the separate design of collaborative function modules, their parallel operation, and distributed deployment on airborne controllers with multi-core processors.

[0035] 3) Based on differences in execution speed, operating frequency, and task requirements, different collaborative control function modules are designed into three operating modes: periodic, responsive, and sequential. This enables differentiated operation of different algorithm programs, reduces the ineffective use of limited computing resources, and improves the responsiveness of the collaborative control system.

[0036] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. An unmanned swarm cooperative control system, characterized in that, It consists of multiple functional modules, including: detection and perception module, information fusion module, decision planning module, control and execution module, task management module, and information interaction module; The information interaction method of the unmanned swarm collaborative control system includes information interaction between functional modules and between different unmanned platforms. The information interaction functional module is the core of data interaction management, which is realized through collaborative information interaction protocol and data sharing pool. Different functional modules are designed with different processes or different threads, and information interaction between them is based on blackboard communication mechanism. Centered on the information interaction function module, an inter-process communication channel is constructed between the information interaction function module and other function modules based on inter-process communication technology. A UDP communication channel is constructed between the unmanned platform where the function module is located and other unmanned platforms based on UDP communication technology and inter-machine communication network. The detection and perception module, information fusion module, decision planning module, control execution module, and task management module do not directly interact with each other, nor with other unmanned platforms. Their information interaction is accomplished by polling the inter-process communication channel and UDP communication channel through the information interaction module, and by performing read and write operations on the data sharing pool based on the collaborative information interaction protocol. Different functional modules are deployed on different processing cores on the airborne controller with a multi-core processor.

2. The unmanned swarm cooperative control system according to claim 1, characterized in that, The collaborative information interaction protocol has a frame structure consisting of four parts: frame header, information header, data segment, and frame trailer. The information header includes at least frame content markers, source address, destination address, data operation, and data segment length information. By defining different data operations, request or write data operations between functional modules or between different unmanned platforms can be specified, defining the content and method of information interaction. The data sharing pool stores the set of variables that all functional modules need to use during runtime. It is included in the collaborative information interaction functional module and managed by it for unified read and write operations.

3. The unmanned swarm cooperative control system according to claim 2, characterized in that, The functional modules are designed with three operating modes—periodic, responsive, and sequential—based on differences in the execution speed and frequency of the algorithms within each module and task requirements. The detection and perception module, information fusion module, control execution module, and information interaction module are designed to operate in a periodic mode, running cyclically at a fixed frequency. The decision-making and planning module is designed to operate in a responsive mode, running only once when a given signal or call is received, according to task requirements. The task management module is designed to operate in a sequential mode, executing sequentially according to predetermined patterns based on changes in task status.

4. The unmanned swarm cooperative control system according to claim 3, characterized in that, The detection and perception module provides information input to the information fusion module, which in turn provides information input to the decision planning module, control execution module, and task management module. The decision planning module provides information input to the control execution module and task management module. The control execution module updates the status by controlling the unmanned platform. The task management module triggers the activation of relevant functions or algorithms in other modules based on the task status to achieve the sequential execution of the designed tasks. The information interaction module interacts with other modules by reading and writing information according to the collaborative information interaction protocol.

5. The unmanned swarm cooperative control system according to claim 4, characterized in that, The detection and perception module deploys sensor information processing algorithms and target recognition algorithms to process the detection sensor data of the unmanned platform where the module is located and output environmental state information and target state information; the information fusion module deploys multi-source information fusion algorithms, target estimation algorithms, and intent judgment algorithms to perform data fusion calculations from multiple unmanned platforms and output target state consistency fusion estimation, target motion trajectory prediction, and intent judgment. The decision-making and planning module deploys target allocation algorithms, path planning algorithms, and game theory decision-making algorithms to specify mission objectives, design motion paths, and calculate actions for the unmanned platform. The control and execution module deploys formation control algorithms and guidance control algorithms to precisely control the specific movements of the unmanned platform. The task management module deploys task evaluation algorithms and task process management algorithms to monitor and evaluate the status of cluster tasks. The information interaction module deploys network communication management algorithms and information transmission and processing algorithms to manage multi-directional data transmission between collaborative control modules and between unmanned platforms.

6. A collaborative control system for unmanned swarms according to any one of claims 1-5, characterized in that, The control system includes at least one or more unmanned platforms such as drones, unmanned vehicles, and unmanned ships.

7. An extended method for an unmanned swarm cooperative control system according to any one of claims 1-5, characterized in that: Step 1: Add one or more new functional modules to the control system according to the task requirements, and create a separate process or thread for each new functional module; Step 2: Add the input and output information required by the new functional module to the data sharing pool in the information interaction functional module, and establish a communication channel based on inter-process communication technology; Step 3: Specify one of the following operating modes for the new functional module: periodic, responsive, or sequential, and design the operation triggering method; Step 4: Make adaptive adjustments or modifications to the functional modules in the control system that are related to the newly added functional modules.

Images