Implementation method of multi-UAV state consistency control mechanism based on mobile platform

Abstract

The present invention relates to a method for realizing a multi-UAV state consistency control mechanism based on a mobile platform. The method comprises: the mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform. The UAV generates request instruction information based on its own current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result satisfies the attribute information matching condition, the simulation service will publish the current state attribute information of the received UAV to the mobile platform, so that the mobile platform selectively publishes the current state attribute information. The use of this method can achieve consistency of the real state information corresponding to multiple entities in a complex simulation environment with poor communication network, greatly reducing the amount of data calculation processing and communication transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle simulation, and in particular to a method for realizing a multi-unmanned aerial vehicle state consistency control mechanism based on a mobile platform. Background Art

[0002] In the application of multi-UAV systems, how to achieve state consistency control among multiple UAVs is a key technical issue. With the widespread application of UAVs in complex tasks, such as multi-UAV cooperative operations, cluster flights, and joint patrols, the complexity of the system and the mission requirements have become increasingly stringent in terms of the consistency of UAV state information. In the technical field, existing multi-UAV state consistency control technologies include:

[0003] Decentralized collaborative control algorithm: This method usually establishes a direct communication link between each drone, allowing the drone to share its own status information in real time, and uses algorithms such as consensus algorithms or distributed optimization methods to ensure the consistency of the status of all drones in the system. However, this method requires each drone to frequently communicate and calculate with other drones in the system, resulting in a rapid increase in computing and communication overhead, especially when there are a large number of drones, the real-time and stability of the system is difficult to guarantee.

[0004] State synchronization method based on centralized control: In this method, the system collects the state information of all drones through a central control node, and distributes consistency instructions to each drone after unified processing. Although this method can work effectively in small-scale drone clusters, as the number of drones increases, the computing and communication burden of the central control node will increase rapidly, becoming a bottleneck of the system. In addition, if the central node fails, the control of the entire system will be interrupted, resulting in a serious risk of mission failure.

[0005] Control mechanism based on hierarchical structure: This method divides the UAV system into several subsets, and each subset achieves state consistency through decentralized or centralized methods, while the subsets coordinate information through hierarchical controllers. This method reduces the communication and computing burden of each UAV to a certain extent, but the introduction of hierarchical structure increases the complexity of the system, and there are potential delays and error accumulation problems in cross-layer coordination and information consistency.

[0006] Although the above methods have been effective in different application scenarios, they all have technical problems that cannot be completely solved when facing large-scale, multi-task, and multi-environment complex UAV simulation environments. For example, although the decentralized method eliminates the risk of single point failure, it is highly dependent on the communication network and has high computational complexity; the centralized method is prone to computing and communication bottlenecks when the scale is expanded; and the hierarchical structure brings complexity to system design and maintenance, and it is difficult to flexibly adapt in a dynamic environment. Summary of the invention

[0007] Based on this, it is necessary to provide a method for implementing a multi-UAV state consistency control mechanism based on a mobile platform, which can improve the mutual stability of state information between multiple motion entities, in response to the above technical problems.

[0008] A method for implementing a multi-UAV state consistency control mechanism based on a mobile platform, applied to a simulation environment, comprises:

[0009] The mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform.

[0010] The drone generates request instruction information based on its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service will receive the drone's current state attribute information and publish it to the mobile platform, so that the mobile platform can selectively publish the current state attribute information.

[0011] A multi-UAV state consistency control mechanism implementation system based on a mobile platform, the system comprising:

[0012] Mobile platform and several drones.

[0013] The mobile platform is used to carry several drones and collaborate with them to execute simulation strategies.

[0014] The drone generates request instruction information based on its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service will receive the drone's current state attribute information and publish it to the mobile platform, so that the mobile platform can selectively publish the current state attribute information.

[0015] The mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform.

[0016] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0017] The mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform.

[0018] The drone generates request instruction information based on its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service will receive the drone's current state attribute information and publish it to the mobile platform, so that the mobile platform can selectively publish the current state attribute information.

[0019] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0020] The mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform.

[0021] The drone generates request instruction information based on its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service will receive the drone's current state attribute information and publish it to the mobile platform, so that the mobile platform can selectively publish the current state attribute information.

[0022] The above-mentioned method for implementing the state consistency control mechanism of multiple drones based on a mobile platform, the key of this method is to use the mobile platform as an intermediary, so that each drone can interact and determine the state attribute information through the simulation service, and then realize the state consistency control. Specifically, the mobile platform plays the role of information sharing and decision-making center. Each drone first generates request instruction information according to its current state attribute, and uploads it to the simulation service of the mobile platform. This simulation service determines whether the state attribute information of each drone meets the consistency matching condition by determining the sharing conditions of all received state attribute information. If the state attribute information of a drone meets the preset conditions, the simulation service publishes the information to the mobile platform. At this time, the mobile platform selectively publishes the current state attribute information after the consistency determination based on specific needs. Through this mechanism, the system does not require each drone to frequently exchange state information with other drones in real time. On the contrary, the mobile platform uniformly screens and matches the state information through centralized processing, and only publishes the information that meets the consistency conditions when necessary. This method avoids a large amount of unnecessary data transmission and processing, and greatly reduces the burden of calculation and communication. The consistency of state information between different drones is achieved through the matching determination mechanism of the simulation service, without the need for each drone to directly synchronize state information with all other drones. In this way, while reducing information redundancy, the overall consistency of the system is ensured. More importantly, this centralized processing mechanism greatly reduces the amount of data computing and communication transmission. Traditional multi-UAV systems may require complex state synchronization algorithms between each UAV, while this solution achieves consistent control of state information through the simulation service of the mobile platform, thereby reducing the complexity of information transmission and processing in the multi-UAV system. This optimization not only improves the overall efficiency of the system, but also provides reliable technical support for the application of multi-UAV systems in larger-scale, multi-task environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flowchart of a method for implementing a multi-UAV state consistency control mechanism based on a mobile platform in one embodiment;

[0024] Figure 2 A flowchart of multi-entity attribute sharing in one embodiment;

[0025] Figure 3 A structural block diagram of a system for implementing a multi-UAV state consistency control mechanism based on a mobile platform in one embodiment;

[0026] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] The method for implementing the multi-UAV state consistency control mechanism based on a mobile platform provided by the present invention can be applied to simulation environments, including weather quality detection, crop cultivation, aerospace, etc.

[0029] In one embodiment, Figure 1 As shown, a method for implementing a multi-UAV state consistency control mechanism based on a mobile platform is provided, comprising the following steps:

[0030] Step 102: The mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform.

[0031] In step 104, the drone generates request instruction information based on its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service will receive the current state attribute information of the drone and publish it to the mobile platform, so that the mobile platform can selectively publish the current state attribute information.

[0032] In the above-mentioned method for implementing the state consistency control mechanism of multiple drones based on a mobile platform, the key to the method is to use the mobile platform as an intermediary to enable each drone to interact and determine the state attribute information through the simulation service, thereby realizing state consistency control. Specifically, the mobile platform plays the role of information sharing and decision-making center. Each drone first generates request instruction information according to its current state attribute and uploads it to the simulation service of the mobile platform. This simulation service determines whether the state attribute information of each drone meets the consistency matching condition by determining the sharing conditions of all received state attribute information. If the state attribute information of a drone meets the preset conditions, the simulation service publishes the information to the mobile platform. At this time, the mobile platform selectively publishes the current state attribute information after the consistency determination based on specific needs. Through this mechanism, the system does not require each drone to frequently exchange state information with other drones in real time. On the contrary, the mobile platform uniformly screens and matches the state information through centralized processing, and only publishes the information that meets the consistency conditions when necessary. This method avoids a large amount of unnecessary data transmission and processing, greatly reducing the burden of calculation and communication. The consistency of state information between different drones is achieved through the matching judgment mechanism of the simulation service, without the need for each drone to directly synchronize state information with all other drones. In this way, while reducing information redundancy, the overall consistency of the system is ensured. More importantly, this centralized processing mechanism greatly reduces the amount of data computing and communication transmission. Traditional multi-drone systems may require complex state synchronization algorithms between drones, while this solution achieves consistency control of state information through the simulation service of the mobile platform, thereby reducing the complexity of information transmission and processing in the multi-drone system. This optimization not only improves the overall efficiency of the system, but also provides reliable technical support for the application of multi-drone systems in larger-scale, multi-task environments.

[0033] In one embodiment, a mobile platform carries several drones; in a simulation environment, the mobile platform and each drone act as independent shared simulation units, and there is no priority restriction for communication between independent shared simulation units. The mobile platform includes: a simulation service, a platform mobile control module, and a state perception module. The drone includes: an integrated control module, a drone mobile control module, and a state perception module.

[0034] In one embodiment, the mobile platform publishes its own state attribute information to each drone through the simulation service, and subscribes to the state attribute information of the drone received by the simulation service. The state attribute information of the drone is published to the mobile platform through the simulation service, and the state attribute information of the mobile platform issued by the simulation service is subscribed.

[0035] In one of the embodiments, the state attribute information includes: position information, posture information and motion state attributes of the independent shared simulation unit.

[0036] In one embodiment, the drone generates a request instruction based on its own current state attribute information. If the motion state attribute of the current state attribute information is the carrying state, the drone generates a first instruction message requesting to share the location information of the mobile platform, and uploads the first instruction message to the simulation service for condition determination. If the motion state attribute of the current state attribute information is the gliding state, the drone generates a second instruction message requesting to obtain the location information of the mobile platform at the current moment, and uploads the second instruction message to the simulation service for condition determination, so as to update its own location information at the current moment according to the second instruction message. If the motion state attribute of the current state attribute information is the detached state, the drone generates a third instruction message requesting to cancel sharing of its own location information at the current moment, and uploads the third instruction message to the simulation service for condition determination.

[0037] In one embodiment, the simulation service verifies that the parameters of the request instruction information are consistent with the device communication parameters of the mobile platform, and then checks the information sharing relationship between the drone and the mobile platform at the current moment according to the request instruction information. If the request instruction information is the first instruction information, the location information of the drone at the current moment is uploaded to the state perception module of the mobile platform, so that the mobile platform determines whether to publish the location information of the drone according to the simulation strategy. If the request instruction information is the second instruction information, the location information of the mobile platform at the current moment is transmitted back to the drone, so that the integrated control module of the drone calculates the location information of the drone at the current moment according to the location information of the mobile platform at the current moment and the relative location information of the drone relative to the mobile platform at the current moment, and publishes the generated first instruction information through the mobile platform. If the request instruction information is the third instruction information, the third instruction information is uploaded to the mobile platform through the simulation service, so that the mobile platform stops publishing the location information of the drone.

[0038] In one embodiment, if the request instruction information is the first instruction information, the current position information of the UAV is uploaded to the state perception module of the mobile platform, so that the mobile platform determines whether to publish the first instruction information according to the simulation strategy. If the simulation strategy indicates that there is no flight safety problem in the air, the mobile platform agrees to publish the position information of the UAV at the current moment, and publishes the position information of the UAV periodically. Otherwise, the mobile platform does not agree to publish the position information of the UAV at the current moment.

[0039] In one embodiment, if Figure 2 As shown, a multi-entity attribute sharing process is provided, which specifically includes:

[0040] First, when the drone is docked on the mobile platform, the drone simulation unit initiates a request to share the mobile platform location to the mobile platform simulation service. After receiving the request, the simulation service first makes a corresponding conditional judgment, and then publishes a message requesting to share the object instance attributes. After the mobile platform simulation unit receives the message requesting to share the object attribute value published by the simulation service, it determines whether to agree to share the attribute value, and notifies the drone simulation unit of the sharing result through the simulation service. If the mobile platform simulation unit agrees to share the attribute value, it needs to publish the shared attribute value periodically. At the same time, the drone simulation unit no longer publishes the shared attribute value. Other simulation units that have subscribed to the drone obtain the attribute data of the entire drone by integrating the drone simulation unit and the mobile platform simulation unit.

[0041] Secondly, when the drone moves on the mobile platform, the drone simulation unit needs to first initiate a request to the simulation service to obtain the mobile platform location attribute message in the mobile platform simulation unit. After receiving the request, the mobile platform simulation unit sends the current location to the drone simulation unit through the simulation service, and no longer publishes the attribute values ​​shared by the object instance. Finally, the drone simulation unit calculates the real location attribute of the drone through the relative position of the drone and the mobile platform and the current position of the mobile platform, and publishes all the attribute values ​​of the drone.

[0042] Finally, when the drone takes off and leaves the mobile platform, the drone simulation unit needs to send a message to the simulation service requesting the cancellation of shared object instance attribute values. The simulation service forwards the message to the mobile platform simulation unit. After receiving the message requesting the cancellation of shared object instance attribute values, the mobile platform simulation unit will no longer publish the shared attribute values ​​of the object instance. The subsequent attribute values ​​of the drone will only be published by the drone simulation unit.

[0043] At this point, the status of the drone at each stage on the mobile platform has been effectively guaranteed and can be consistent with the operating status of the mobile platform. From the perspective of the situation, the position information of the drone at each stage can be consistent with the real scene, and there will be no problem of position movement back and forth.

[0044] It should be understood that although Figure 1-Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1-Figure 2At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0045] In one embodiment, Figure 3 As shown, a multi-UAV state consistency control mechanism implementation system based on a mobile platform is provided, including: a mobile platform 302, a simulation service 304 and a UAV 306, wherein:

[0046] A mobile platform 302 and a number of drones 306 .

[0047] The mobile platform 302 is used to carry a plurality of drones 306 and cooperate with the drones 306 to execute simulation strategies.

[0048] The drone 306 generates request instruction information based on its own current state attribute information and uploads it to the simulation service 304 for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service 304 will receive the current state attribute information of the drone 306 and publish it to the mobile platform 302, so that the mobile platform 302 selectively publishes the current state attribute information.

[0049] The mobile platform 302 and each drone 306 exchange state attribute information via the simulation service 304 of the mobile platform 302 .

[0050] For the specific limitations on the device for implementing the multi-UAV state consistency control mechanism based on a mobile platform, please refer to the limitations on the method for implementing the multi-UAV state consistency control mechanism based on a mobile platform above, which will not be repeated here. Each module in the above-mentioned device for implementing the multi-UAV state consistency control mechanism based on a mobile platform can be implemented in whole or in part through software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0051] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for implementing a multi-UAV state consistency control mechanism based on a mobile platform is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0052] Those skilled in the art will understand that Figure 3-Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0053] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0054] The mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform.

[0055] The drone generates request instruction information based on its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service will receive the drone's current state attribute information and publish it to the mobile platform, so that the mobile platform can selectively publish the current state attribute information.

[0056] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0057] The mobile platform and each UAV exchange state attribute information through the simulation service of the mobile platform.

[0058] The drone generates request instruction information based on its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result meets the attribute information matching condition, the simulation service will receive the drone's current state attribute information and publish it to the mobile platform, so that the mobile platform can selectively publish the current state attribute information.

[0059] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0060] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for implementing a multi-UAV state consistency control mechanism based on a mobile platform, applied to a simulated environment, characterized in that: The method comprises: The mobile platform and each drone exchange state attribute information through the simulation service of the mobile platform; The drone generates request instruction information according to its current state attribute information and uploads it to the simulation service for sharing condition determination. If the determination result satisfies the attribute information matching condition, the simulation service will publish the received current state attribute information of the drone to the mobile platform, so that the mobile platform selectively publishes the current state attribute information. The drone generates a request instruction according to its own current state attribute information. If the motion state attribute of the current state information is a carrying state, the drone generates a first instruction information requesting to share the location information of the mobile platform, and uploads the first instruction information to the simulation service for condition determination; if the motion state attribute of the current state information is a gliding state, the drone generates a second instruction information requesting to obtain the location information of the mobile platform at the current moment, and uploads the second instruction information to the simulation service for condition determination, so as to update its own location information at the current moment according to the second instruction information; if the motion state attribute of the current state information is a detached state, the drone generates a third instruction information requesting to cancel sharing of its own location information at the current moment, and uploads the third instruction information to the simulation service for condition determination; The simulation service verifies that the parameters of the request instruction information are consistent with the device communication parameters of the mobile platform, and then checks the information sharing relationship between the drone and the mobile platform at the current moment according to the request instruction information. If the request instruction information is the first instruction information, the location information of the drone at the current moment is uploaded to the state perception module of the mobile platform, so that the mobile platform determines whether to publish the location information of the drone according to the simulation strategy; if the request instruction information is the first instruction information, the location information of the drone at the current moment is uploaded to the state perception module of the mobile platform, so that the mobile platform determines whether to publish the first instruction information according to the simulation strategy. If the simulation strategy indicates that there is no flight safety problem in the air, the mobile platform agrees to publish the location information of the drone at the current moment and publishes the location information of the drone periodically; otherwise, the mobile platform does not agree to publish the location information of the drone at the current moment; If the request instruction information is the second instruction information, the location information of the mobile platform at the current moment is transmitted back to the drone, so that the integrated control module of the drone calculates the location information of the drone at the current moment based on the location information of the mobile platform at the current moment and the relative location information of the drone relative to the mobile platform at the current moment, and publishes the generated first instruction information through the mobile platform; if the request instruction information is the third instruction information, the third instruction information is uploaded to the mobile platform through the simulation service, so that the mobile platform stops publishing the location information of the drone.

2. The method according to claim 1, characterized in that: The mobile platform carries a number of drones; In the simulation environment, the mobile platform and each drone act as independent shared simulation units, and there is no priority restriction for communication between the independent shared simulation units; The mobile platform includes: a simulation service, a platform mobile control module and a state perception module; The UAV comprises: an integrated control module, a UAV movement control module and a state perception module.

3. The method according to claim 1, characterized in that The mobile platform and each drone exchange state attribute information through the simulation service of the mobile platform, including: The mobile platform publishes its own state attribute information to each drone through the simulation service, and subscribes to the state attribute information of the drone received by the simulation service; The state attribute information of the drone is published to the mobile platform through the simulation service, and the state attribute information of the mobile platform issued by the simulation service is subscribed.

4. The method according to any one of claims 1 to 3, characterized in that: The state attribute information includes: position information, posture information and motion state attributes of the independent shared simulation unit.

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