Unmanned underwater vehicle cooperative hunting method, device, equipment and medium

Abstract

The invention provides an unmanned underwater vehicle cooperative hunting method, device and equipment and a medium, and relates to the technical field of cluster control, the method comprises the following steps: each vehicle collects own state information and keeps communication with other vehicles, and a plurality of vehicles form a flexible hunting rope net; a plurality of aircrafts form an aircraft formation and enter a water area with a preset depth; the aircraft formation cruises according to a preset track and starts a search target; when the aircraft formation searches a preset target, trajectory tracking is carried out on the preset target according to the detected target position of the preset target; if it is judged that the distance between the preset target and the flexible hunting rope net is smaller than the preset distance, the multiple aircrafts hunting the preset target by tightening the flexible hunting rope net. According to the invention, cooperative hunting of the unmanned underwater vehicle for the target can be realized.

Description

Technical Field

[0001] The present application relates to the technical field of cluster control, and in particular to a method, device, equipment and medium for collaborative capture of unmanned underwater vehicles. Background Art

[0002] With the continuous increase in marine development activities, unmanned underwater vehicles (UUVs) have become one of the key equipment in marine exploration and an important research direction in the field of marine engineering and robotics. Given the complexity of the underwater environment and tasks, a single UUV is difficult to complete certain specific tasks, so multi-vehicle cluster control technology has emerged. This technology not only improves work efficiency through the collaborative cooperation between UUVs, but also enhances the ability to adapt to complex underwater environments, making it more suitable for performing diverse tasks.

[0003] Unmanned underwater vehicles play a key role in the coordinated capture of targets. Through close cooperation and information sharing between multiple unmanned underwater vehicles, mobile targets can be effectively tracked and captured. Through the collaborative operation of multiple UUVs, an efficient capture network can be formed to effectively improve the monitoring and tracking capabilities of mobile targets. Collaborative capture makes the encirclement and capture of targets more flexible, thereby better responding to various emergencies, and ultimately improving the overall efficiency and safety of marine exploration and resource development.

[0004] In the coordinated capture of targets by unmanned underwater vehicles, algorithm design is crucial. Effective control and decision-making algorithms can optimize the collaboration between unmanned underwater vehicles, realize intelligent path planning and real-time data sharing, thereby ensuring that each unmanned underwater vehicle can form a flexible capture strategy and improve capture efficiency. Summary of the invention

[0005] The present application provides a method, device, equipment and medium for cooperative capture of unmanned underwater vehicles, which can realize the cooperative capture of targets by unmanned underwater vehicles.

[0006] In a first aspect of the present application, a method for cooperative capture of unmanned underwater vehicles is provided, the method comprising:

[0007] Each aircraft collects its own status information and maintains communication with other aircraft, wherein multiple aircraft form a flexible capture rope net;

[0008] A plurality of the aircraft form an aircraft formation and enter waters of a predetermined depth;

[0009] The aircraft formation cruises along a preset trajectory and starts searching for targets;

[0010] When the aircraft formation searches for a preset target, tracking the trajectory of the preset target is performed according to the detected target position of the preset target;

[0011] If it is determined that the distance between the preset target and the flexible capture rope net is less than the preset distance, the plurality of aircraft capture the preset target by tightening the flexible capture rope net.

[0012] Optionally, the plurality of aircraft form an aircraft formation, specifically including:

[0013] determining a leader and a plurality of followers among the plurality of said aircraft;

[0014] Obtaining a preset reference trajectory of the aircraft;

[0015] The formation control input of the aircraft is determined based on the reference trajectory, and the control input is expressed as follows:

[0016] u i (t) = β i (r i (t)-q i (t)),i=1,2,3…k

[0017] Among them, u1(t) is the formation control input of the leader, u2(t),u3(t),…,u k (t) are the formation control inputs of followers {2,,3,…,k}, r1(t) is the reference trajectory of the leader, r2(t),r3(t),…,r k (t) are the reference trajectories of the followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, q2(t),q3(t),…,q k (t) are the actual trajectories of followers {2,,3,…,k}, and βi is the algorithm proportional coefficient.

[0018] Optionally, the aircraft formation cruises according to a preset trajectory, specifically including:

[0019] Based on the flexible capture rope net, a vector between any two adjacent aircraft is determined, wherein the flexible capture rope net is opened to form a polygon A1A2…A k , each of the aircraft is located at the vertex of the polygon, then the vectors A1A2, A2A3, ..., A that constitute the edge of the polygon k-1 A k are the vectors between any two adjacent spacecraft;

[0020] According to the actual trajectory of the leader and the vector between any two adjacent vehicles, the reference trajectory of the follower is determined. The reference trajectory of the follower is expressed as follows:

[0021]

[0022] Among them, r2(t),r3(t),…,r k (t) are the reference trajectories of the followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, A1A2,A2A3,…,A k-1 A k are the vectors between any two adjacent spacecraft.

[0023] Optionally, the performing trajectory tracking for the preset target according to the detected target position of the preset target specifically includes:

[0024] Each of the aircraft continuously detects the target direction of the preset target relative to itself;

[0025] The plurality of aircrafts determine the target position of the preset target according to the own state information and the target direction, wherein the own state information includes the own position information of the aircraft;

[0026] Determining a target trajectory of the preset target according to the target position of the preset target duration;

[0027] Based on the target trajectory, a trajectory tracking algorithm for the aircraft is determined.

[0028] Optionally, determining a trajectory tracking algorithm for the aircraft based on the target trajectory specifically includes:

[0029] According to the target trajectory and the center position of the flexible capture rope net, the trajectory control input of the navigator among the multiple aircraft is determined, and the trajectory control input of the navigator is expressed as follows:

[0030]

[0031] Among them, u'1(t) is the trajectory control input of the navigator, μ1 is the algorithm proportional coefficient, g(t) is the target trajectory, It is the center position of the flexible capture rope net.

[0032] Optionally, determining a trajectory tracking algorithm for the aircraft based on the target trajectory specifically includes:

[0033] Based on the preset reference trajectory of the follower, the trajectory control input of the follower is determined, and the trajectory control input of the follower is expressed as follows:

[0034] u i (t) = μ i (r i (t)-q i (t)),i=2,3…k

[0035] Among them, u2(t),u3(t),…,u k (t) are the trajectory control inputs of followers {2,,3,…,k}, r2(t),r3(t),…,r k (t) are the reference trajectories of followers {2,,3,…,k}, q2(t),q3(t),…,q k (t) are the actual trajectories of followers {2,,3,…,k}, μ i is the algorithm scaling factor.

[0036] Optionally, the multiple aircraft determine the target position of the preset target according to the own state information and the target direction, and specifically calculate the target position by simultaneously solving the following set of equations:

[0037]

[0038] Where (x, y, z) is the target position, (x i ,y i ,z i ) is the state information of the i-th (i=1,2,…,k) aircraft, (a i ,b i ,c i ) is the target direction of the preset target detected by the i-th (i=1, 2,…, k) aircraft relative to itself.

[0039] In a second aspect of the present application, a cooperative capture device for unmanned underwater vehicles is provided, the device comprising an acquisition module, a control module, a tracking module and a processing module, wherein:

[0040] The acquisition module is used to collect its own status information and maintain communication with other aircraft, wherein a flexible capture rope net is formed between multiple aircraft;

[0041] The control module is used to control the plurality of the aircraft to form an aircraft formation and enter waters of a predetermined depth;

[0042] The control module is used to control the aircraft formation to cruise according to a preset trajectory and start searching for targets;

[0043] The tracking module is used for tracking the preset target according to the detected target position of the preset target when the aircraft formation searches for the preset target;

[0044] The processing module is used to, if it is determined that the distance between the preset target and the flexible capture rope net is less than the preset distance, allow the multiple aircraft to capture the preset target by tightening the flexible capture rope net.

[0045] In the third aspect of the present application, an electronic device is provided, including a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are both used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes any one of the methods described above.

[0046] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, any of the methods described above is executed.

[0047] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0048] 1. The reason why this application can achieve efficient target capture is mainly due to its comprehensive use of information collection, real-time communication, formation control and dynamic adaptation strategies. First, each aircraft forms a collaborative network by collecting its own status information and maintaining communication, so that they can share location information and target data. Secondly, the aircraft cruises in the predetermined waters in formation to ensure that a larger range can be covered and the efficiency of target search is improved. When the target is discovered, the aircraft accurately tracks the trajectory based on the detected position and dynamically adjusts its own position to maintain continuous monitoring of the target. Once it is determined that the distance between the target and the flexible capture rope net is less than the preset threshold, the aircraft achieves effective encirclement by tightening the rope net, thereby completing the capture. In summary, not only the flexibility and accuracy of capture are improved, but also the ability to cope with complex underwater environments is enhanced, so that unmanned underwater vehicles can efficiently and coordinately complete target capture tasks.

[0049] 2. By clearly dividing the roles of the leader and the follower, and formulating the formation control input based on the reference trajectory, the collaborative operation capability and stability of the unmanned underwater vehicle can be effectively improved. Guided by the leader, the follower can adjust its motion state in real time to maintain its relative position with the leader and form a stable formation structure. This dynamic control mechanism not only ensures the flexible adaptability of the vehicle in complex underwater environments, but also improves the overall motion efficiency, enabling the formation to accurately perform preset tasks such as target search and capture. At the same time, the introduction of the algorithm proportional coefficient makes the control response more sensitive, and can adjust the heading and speed of the vehicle in time, further enhancing the coordination and safety of the formation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a flow chart of a method for cooperative capture of unmanned underwater vehicles disclosed in an embodiment of the present application;

[0051] Figure 2 It is a schematic diagram of the structure of an unmanned underwater vehicle cooperative capture device disclosed in an embodiment of the present application;

[0052] Figure 3 is a schematic diagram of a navigator reference trajectory disclosed in an embodiment of the present application;

[0053] Figure 4 It is a module schematic diagram of an unmanned underwater vehicle cooperative capture device disclosed in an embodiment of the present application;

[0054] Figure 5 It is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application.

[0055] Explanation of the reference numerals: 401, acquisition module; 402, control module; 403, tracking module; 404, processing module; 501, processor; 502, communication bus; 503, user interface; 504, network interface; 505, memory. DETAILED DESCRIPTION

[0056] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0057] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0058] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0059] With the acceleration of ocean development, unmanned underwater vehicles have become the core equipment for ocean exploration. Especially in complex tasks, multi-vehicle cluster control technology has emerged, which has significantly improved work efficiency and environmental adaptability. In the coordinated capture of targets, the vehicles form an efficient capture network through close cooperation and information sharing, effectively track and capture mobile targets, and enhance the flexibility to deal with emergencies. The key lies in the design of the algorithm. The optimized control and decision-making algorithms can realize intelligent path planning and improve the success rate of collaborative operations, thereby improving the overall efficiency and safety of ocean exploration and resource development.

[0060] This embodiment discloses a method for cooperative capture of unmanned underwater vehicles. Figure 1 , including the following steps S110-S150:

[0061] S110, each aircraft collects its own status information and maintains communication with other aircraft.

[0062] This embodiment discloses a method for cooperative capture of unmanned underwater vehicles, in which a plurality of vehicles stretch out a flexible rope net, and the vehicles cooperate to drag the stretched flexible rope net to capture the target with the rope net. First, a formation consisting of k (k ≥ 3) vehicles, a flexible rope net and a plurality of underwater tensile towing cables are provided. The flexible rope net is in the shape of a convex polygon, and each vertex of the convex polygon is connected to a vehicle. The vehicles control the opening of the flexible rope net through the formation and drive the movement of the flexible rope net. Vehicles at adjacent vertices on the flexible rope net are connected by tensile towing cables to achieve efficient and reliable communication between vehicles.

[0063] Each aircraft is equipped with necessary sensors, such as depth sensors, velocity sensors, accelerometers, gyroscopes, temperature sensors, and sonars, which can monitor the aircraft's operating status, environmental conditions, and position in real time. Each aircraft is designed with a data acquisition module that regularly reads information from each sensor and performs preliminary data processing. This can be achieved through an embedded system to ensure the accuracy and real-time nature of the data.

[0064] Reference Figure 2 , the figure is a schematic diagram of the structure of an unmanned underwater vehicle cooperative capture device disclosed in an embodiment of the present application, including a polygonal flexible rope net, multiple vehicles and multiple underwater tensile towing cables. Each vertex of the polygonal flexible rope net is connected to a vehicle, and the vehicles at adjacent vertices are connected through a section of underwater tensile towing cable, so as to achieve efficient and reliable communication between the vehicles.

[0065] Cable communication is adopted, which is efficient and reliable and conducive to collaborative control. In the past, multiple aircraft coordinated through underwater acoustic communication to understand each other's status and then decide on the formation collaborative control instructions. However, underwater acoustic communication is usually inefficient and unreliable, which is not conducive to the collaborative control of aircraft formations. This application adopts tensile towing cables to connect aircraft to achieve reliable and efficient communication and ensure the reliability of aircraft collaborative control.

[0066] The flexible rope net is made of PTFE (polytetrafluoroethylene) ropes. PTFE has excellent characteristics such as acid and alkali resistance, wear resistance, non-adhesion, insulation, etc., and is suitable for long-term use in seawater. There are many brands of underwater tensile towing cables available on the market, and they can also be customized. They are tensile, waterproof, and corrosion-resistant.

[0067] In the set sea area, a polygonal flexible rope net is spread on the water surface, and each vertex of the flexible rope net is connected to a spacecraft, and the spacecraft at adjacent vertices are connected by tensile towing cables. Multiple spacecraft are loaded on multiple surface ships. After the surface ships transport the spacecraft to the set surface positions, the crane on the surface ship lifts the spacecraft with a sling and drops it on the water surface. However, the sling is not untied at this time, and the position of the spacecraft can be adjusted by the crane. After that, multiple small boats are used to spread the polygonal flexible rope net on the water surface, and the spacecraft is connected to multiple vertices of the flexible rope net, and the spacecraft is connected with tensile towing cables. After that, the initial position of the spacecraft is calibrated, and the crane releases the sling and disconnects from the spacecraft, completing the deployment of the spacecraft and the flexible rope net on the water surface.

[0068] S120, a plurality of aircraft form an aircraft formation and enter waters of a predetermined depth.

[0069] First, according to the mission requirements and environmental conditions, one of the multiple aircraft is selected as the navigator and the rest as followers. The navigator is usually responsible for formulating the path and control strategy, while the followers need to move under the guidance of the navigator. Define a preset reference trajectory for all aircraft, which is usually obtained through mission planning or path planning algorithms. The reference trajectory should take into account the dynamic characteristics of the aircraft, environmental factors and mission objectives to ensure the feasibility and safety of the trajectory. In the initial stage, the following trajectory control algorithm based on the pilot-follower method is adopted:

[0070] Assume that k vessels are numbered {1,2,3…k}. Without loss of generality, let {1} be the leader and the rest {2,3…k} be followers. The preset leader reference trajectory is r1(t). The leader reference trajectory r1(t) includes the trajectory from the surface deployment state to the predetermined water depth and the trajectory of the cruise search. The leader is responsible for tracking the reference trajectory r1(t), and the followers follow the leader with a certain strategy to maintain a k-gon formation, so as to always keep the flexible rope net in the vertical direction of the water in a k-gon open state.

[0071] The reference trajectory r1(t) of the navigator can be flexibly preset. Figure 3 It is a schematic diagram of the reference trajectory of the navigator. In the XYZ rectangular coordinate system, Z represents the vertical direction of the water depth, XY represents the horizontal direction, and the reference trajectory r1(t) is CDEFGD. Specifically, the navigator starts from point C on the water surface and follows the trajectory curve CD into the predetermined water depth to reach point D. The navigator cruises back and forth along the trajectory DEFGD to search for the target. Based on this, the control inputs of the navigator and the follower are calculated. Generally, the motion model of the aircraft is as follows:

[0072]

[0073] Where, the subscript i = 1, 2, ..., k represents the i-th spacecraft, q i (t) represents the position or trajectory of the spacecraft, p i (t) represents speed, u i (t) represents the control input.

[0074] The actual movement of the spacecraft is disturbed by factors such as ocean currents. There must be a certain trajectory error between the actual trajectory and the reference trajectory. The proportional control algorithm is used to correct the actual trajectory of each spacecraft, and the control input of the spacecraft is calculated based on the reference trajectory:

[0075] u i (t) = β i (r i (t)-q i (t)),i=1,2,3…k

[0076] Among them, u1(t) is the formation control input of the leader, u2(t),u3(t),…,u k (t) are the formation control inputs of followers {2,,3,…,k}, r1(t) is the reference trajectory of the leader, r2(t),r3(t),…,r k (t) are the reference trajectories of followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, q2(t),q3(t),…,q k(t) are the actual trajectories of followers {2,,3,…,k}, and βi is the algorithm proportional coefficient.

[0077] Appropriate control algorithms (such as PID control, sliding mode control, or model-based control) are used to implement the above control inputs. These algorithms will adjust the propulsion, steering, and depth of the spacecraft in real time to follow the movement of the leader. During the implementation process, each spacecraft needs to collect its own state information (position, speed, attitude, etc.) in real time through sensors, and share this information with other spacecraft through communication modules to ensure the accuracy and timeliness of the formation control input.

[0078] S130: The aircraft formation cruises along the preset trajectory and starts searching for targets.

[0079] The polygon A1A2…A opened by the flexible rope net k , the aircraft occupies each vertex position in turn, and the edge of the polygon represents the connection relationship between adjacent aircraft. Then, based on the defined polygon, the vector of the edge between any two adjacent aircraft is calculated. For example, assuming that the vertices of the polygon are A1, A2, …, A k , then we can calculate the vectors A1A2,A2A3,…,A k-1 A k , these vectors represent the relative position relationship between the spacecraft.

[0080] Then, according to the actual trajectory of the leader obtained in real time by the sensor and positioning system, and the vector between any two adjacent vehicles, the reference trajectory of each follower is calculated step by step. The reference trajectory of the follower is expressed as follows:

[0081]

[0082] Among them, r2(t),r3(t),…,r k (t) are the reference trajectories of the followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, A1A2,A2A3,…,A k-1 A k are the vectors between any two adjacent aircraft. In this way, the reference trajectory of each follower depends on the position of the previous aircraft and the vector relationship between the adjacent aircraft, ensuring the relative position relationship of the entire formation. In addition, after the aircraft formation enters the predetermined water depth, it continues to cruise according to the preset trajectory and turns on the passive sonar to search for targets.

[0083] S140, when the aircraft formation searches for the preset target, the preset target is tracked according to the detected target position of the preset target.

[0084] In one possible implementation, based on the detected target position of the preset target, trajectory tracking is performed for the preset target, specifically including: each aircraft continuously detects the target direction of the preset target relative to itself; multiple aircraft determine the target position of the preset target based on their own status information and target direction, the own status information including the aircraft's own position information; determine the target trajectory of the preset target based on the target position of the preset target for a duration of time; and determine the trajectory tracking algorithm of the aircraft based on the target trajectory.

[0085] Specifically, if the aircraft formation detects a preset target, it can track the trajectory based on the target position. Each aircraft continuously detects the relative position of the preset target through sensors to obtain the target direction information. This process requires real-time data processing to ensure that the aircraft can accurately determine the direction and distance of the target. The aircraft uses its own state information (including position information, speed, attitude, etc.) combined with the detected target direction to calculate the absolute position of the preset target. Based on the self-state information of multiple aircraft and the detected target direction, the preset target position (x, y, z) is determined by solving the set of equations simultaneously. For the i-th aircraft, its position (x i ,y i ,z i ) and target direction (a i ,b i ,c i ), we can write the following equation:

[0086]

[0087] By combining the equations of each spacecraft, the target position (x, y, z) can be solved. In specific implementation, numerical solution methods such as the least squares method can be used to process the equations to ensure the stability and accuracy of the calculation.

[0088] Based on the detected target position, the vehicle needs to record the movement of the target over a period of time to determine its trajectory. This can be achieved through continuous target position sampling, such as updating the target position at regular intervals to form a target trajectory data set. Based on the target trajectory and the center position of the flexible capture rope net, the control input of the navigator is calculated. According to the formula:

[0089]

[0090] Among them, u'1(t) is the trajectory control input of the navigator, μ1 is the algorithm proportional coefficient, g(t) is the target trajectory, is the average of the actual positions of all vehicles, representing the center position of the flexible capture net. The control input adjusts the movement of the leader by comparing the difference between the target trajectory and the current center position of the formation. The proportional coefficient is used to control the magnitude of the adjustment so that the leader can appropriately correct its movement to stay on the target trajectory.

[0091] In addition, for each follower, the control input is calculated using its reference trajectory. The trajectory control input of the follower is expressed as follows:

[0092] u i (t) = μ i (r i (t)-q i (t)),i=2,3…k

[0093] Among them, u2(t),u3(t),…,u k (t) are the trajectory control inputs of followers {2,,3,…,k}, r2(t),r3(t),…,r k (t) are the reference trajectories of followers {2,,3,…,k}, q2(t),q3(t),…,q k (t) are the actual trajectories of followers {2,,3,…,k}, and μi is the algorithm scaling coefficient.

[0094] The control input of the follower is determined by calculating the difference between its reference trajectory and its current actual position. This difference indicates the direction and distance the follower needs to move so that it can follow the leader's trajectory. The follower's scale factor controls its response speed, ensuring that the follower smoothly tracks the leader.

[0095] During the cruise search and target tracking phase, the vehicle trajectory control algorithm based on the pilot-follower method is adopted, and the control method is simple and easy to implement. During the cruise search and target tracking process, the pilot is mainly responsible for cruising according to the preset reference trajectory and effectively tracking the target after discovering it; while the follower always follows the pilot and is mainly responsible for keeping the flexible rope net open vertically in the water. The pilot and the follower have clear division of labor, the control logic is robust and simple, and it is easy to achieve collaborative capture.

[0096] S150: If it is determined that the distance between the preset target and the flexible capture rope net is less than the preset distance, the multiple aircraft capture the preset target by tightening the flexible capture rope net.

[0097] The target is close enough to the flexible rope net, that is, when the following conditions are met:

[0098]

[0099] Where L is the preset distance. This indicates that the preset target is close enough to the flexible rope net and enters the target capture phase. The aircraft formation accelerates to approach the target and tightens the flexible rope net to capture the target, making it lose its autonomous action ability. This capture process is controlled by a preset program. Regardless of whether the target is successfully captured, the aircraft will then surface, contact the outside world via radio, and recover the device.

[0100] In the past, the multi-aircraft coordinated capture of targets only used multiple aircraft to surround the target, without substantially restricting the target's actions, and the target still had the possibility of escaping. The present application not only surrounded the target with multiple aircraft, but also trapped the target with a flexible rope net, thus achieving true capture.

[0101] By adopting the technical solution of the present application, efficient target capture can be achieved. First, each aircraft forms a collaborative network by collecting its own status information and maintaining communication, so that they can share location information and target data. Secondly, the aircraft cruises in the predetermined waters in formation to ensure that a larger range can be covered and the efficiency of target search is improved. When the target is discovered, the aircraft accurately tracks the trajectory based on the detected position and dynamically adjusts its own position to maintain continuous monitoring of the target. Once it is determined that the distance between the target and the flexible capture rope net is less than the preset threshold, the aircraft achieves effective encirclement by tightening the rope net, thereby completing the capture. In summary, not only the flexibility and accuracy of capture are improved, but also the ability to cope with complex underwater environments is enhanced, so that unmanned underwater vehicles can efficiently and coordinately complete target capture tasks.

[0102] This embodiment also discloses an unmanned underwater vehicle cooperative capture device, referring to Figure 4 The device includes an acquisition module 401, a control module 402, a tracking module 403 and a processing module 404, wherein:

[0103] The acquisition module 401 is used to collect its own status information and maintain communication with other aircraft, wherein a flexible capture rope net is formed between multiple aircraft.

[0104] The control module 402 is used to control multiple aircraft to form an aircraft formation and enter waters of a predetermined depth.

[0105] The control module 402 is used to control the aircraft formation to cruise according to a preset trajectory and start searching for targets.

[0106] The tracking module 403 is used to track the trajectory of the preset target according to the detected target position of the preset target when the aircraft formation searches for the preset target.

[0107] The processing module 404 is used to, if it is determined that the distance between the preset target and the flexible capture rope net is less than the preset distance, cause the multiple aircraft to capture the preset target by tightening the flexible capture rope net.

[0108] In a possible implementation, the control module 402 is configured to determine a leader and a plurality of followers among a plurality of aircraft.

[0109] The acquisition module 401 is used to acquire a preset reference trajectory of the aircraft.

[0110] The control module 402 is used to determine the formation control input of the aircraft based on the reference trajectory. The control input is expressed as follows:

[0111] u i (t) = β i (r i (t)-q i (t)),i=1,2,3…k

[0112] Among them, u1(t) is the formation control input of the leader, u2(t),u3(t),…,u k (t) are the formation control inputs of followers {2,,3,…,k}, r1(t) is the reference trajectory of the leader, r2(t),r3(t),…,r k (t) are the reference trajectories of followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, q2(t),q3(t),…,q k (t) are the actual trajectories of followers {2,,3,…,k}, and βi is the algorithm proportional coefficient.

[0113] In a possible implementation, the processing module 404 is used to determine the vector between any two adjacent aircraft based on the flexible capture rope net, wherein the flexible capture rope net is opened to form a polygon A1A2…A k , each spacecraft is at the vertex of the polygon, then the vectors A1A2, A2A3, …, A that constitute the edge of the polygon k-1 A k are the vectors between any two adjacent spacecraft.

[0114] The tracking module 403 is used to determine the reference trajectory of the follower according to the actual trajectory of the leader and the vector between any two adjacent vehicles. The reference trajectory of the follower is expressed as follows:

[0115]

[0116] Among them, r2(t),r3(t),…,r k(t) are the reference trajectories of followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, A1A2,A2A3,…,A k-1 A k are the vectors between any two adjacent spacecraft.

[0117] In a possible implementation, the control module 402 is used to control each aircraft to continuously detect the target direction of a preset target relative to itself.

[0118] The control module 402 is used to control multiple aircraft to determine the target position of the preset target according to their own state information and target direction. The own state information includes the own position information of the aircraft.

[0119] The tracking module 403 is used to determine the target trajectory of the preset target according to the target position of the preset target duration.

[0120] The tracking module 403 is used to determine the trajectory tracking algorithm of the aircraft based on the target trajectory.

[0121] In a possible implementation, the processing module 404 is used to determine the trajectory control input of the navigator among the multiple vehicles according to the target trajectory and the center position of the flexible capture rope net. The trajectory control input of the navigator is expressed as follows:

[0122]

[0123] Among them, u'1(t) is the trajectory control input of the navigator, μ1 is the algorithm proportional coefficient, g(t) is the target trajectory, It is the center position of the flexible capture rope net.

[0124] In a possible implementation, the processing module 404 is used to determine the trajectory control input of the follower based on a preset reference trajectory of the follower, and the trajectory control input of the follower is expressed as follows:

[0125] u i (t) = μ i (r i (t)-q i (t)),i=2,3…k

[0126] Among them, u2(t),u3(t),…,u k (t) are the trajectory control inputs of followers {2,,3,…,k}, r2(t),r3(t),…,r k (t) are the reference trajectories of followers {2,,3,…,k}, q2(t),q3(t),…,q k (t) are the actual trajectories of followers {2,,3,…,k}, μi is the algorithm scaling factor.

[0127] In a possible implementation, the processing module 404 is configured to calculate the target position by simultaneously solving the following set of equations:

[0128]

[0129] Among them, (x, y, z) is the target position, (x i ,y i ,z i ) is the state information of the i-th (i=1,2,…,k) aircraft, (a i ,b i ,c i ) is the target direction of the preset target detected by the i-th (i=1,2,…,k)-th vehicle relative to itself.

[0130] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0131] This embodiment also discloses an electronic device, referring to Figure 5 The electronic device may include: at least one processor 501 , at least one communication bus 502 , a user interface 503 , a network interface 504 , and at least one memory 505 .

[0132] The communication bus 502 is used to realize the connection and communication between these components.

[0133] The user interface 503 may include a display screen (Display) and a camera (Camera), and the optional user interface 503 may also include a standard wired interface and a wireless interface.

[0134] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0135] Among them, the processor 501 may include one or more processing cores. The processor 501 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 505, and calling data stored in the memory 505. Optionally, the processor 501 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 501 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 501, and it can be implemented separately through a chip.

[0136] Among them, the memory 505 may include a random access memory (RAM) or a read-only memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 505 may also be at least one storage device located away from the aforementioned processor 501. The memory 505 as a computer storage medium may include an operating system, a network communication module, a user interface 503 module, and an application for an unmanned underwater vehicle collaborative encirclement method.

[0137] exist Figure 5In the electronic device shown, the user interface 503 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 501 can be used to call an application program for an unmanned underwater vehicle collaborative capture method stored in the memory 505. When executed by one or more processors 501, the electronic device executes one or more methods in the above-mentioned embodiments.

[0138] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0139] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0141] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0143] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory 505 and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory 505 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0144] The present application also discloses a computer-readable storage medium, wherein the computer-readable storage medium stores instructions. When executed by one or more processors 501, the electronic device executes one or more of the methods described in the above embodiments.

[0145] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, it will be easy for those skilled in the art to think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field that are not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for cooperative capture of unmanned underwater vehicles, characterized in that: The method comprises: Each aircraft collects its own status information and maintains communication with other aircraft, wherein multiple aircraft form a flexible capture rope net; A plurality of the aircraft form an aircraft formation and enter waters of a predetermined depth; The aircraft formation cruises along a preset trajectory and starts searching for targets; When the aircraft formation searches for a preset target, tracking the trajectory of the preset target is performed according to the detected target position of the preset target; If it is determined that the distance between the preset target and the flexible capture rope net is less than the preset distance, the plurality of aircraft capture the preset target by tightening the flexible capture rope net.

2. The method for cooperative capture of unmanned underwater vehicles according to claim 1, characterized in that: The plurality of aircraft form an aircraft formation, which specifically includes: determining a leader and a plurality of followers among the plurality of said aircraft; Obtaining a preset reference trajectory of the aircraft; The formation control input of the aircraft is determined based on the reference trajectory, and the control input is expressed as follows: u i (t)=β i (r i (t)-q i (t)),i=1,2,3…k Among them, u1(t) is the formation control input of the leader, u2(t),u3(t),…,u k (t) are the formation control inputs of followers {2,,3,…,k}, r1(t) is the reference trajectory of the leader, r2(t),r3(t),…,r k (t) are the reference trajectories of the followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, q2(t),q3(t),…,q k (t) are the actual trajectories of followers {2,,3,…,k}, β i is the algorithm scaling factor.

3. The unmanned underwater vehicle cooperative capture method according to claim 2, characterized in that: The aircraft formation cruises according to a preset trajectory, specifically including: Based on the flexible capture rope net, a vector between any two adjacent aircraft is determined, wherein the flexible capture rope net is opened to form a polygon A1A2…A k , each of the aircraft is located at the vertex of the polygon, then the vectors A1A2, A2A3, ..., A that constitute the edge of the polygon k-1 A k are the vectors between any two adjacent spacecraft; According to the actual trajectory of the leader and the vector between any two adjacent vehicles, the reference trajectory of the follower is determined. The reference trajectory of the follower is expressed as follows: Among them, r2(t),r3(t),…,r k (t) are the reference trajectories of the followers {2,,3,…,k}, q1(t) is the actual trajectory of the leader, A1A2, A2A 3, …,A k-1 A k are the vectors between any two adjacent spacecraft.

4. The unmanned underwater vehicle cooperative capture method according to claim 1, characterized in that: The step of tracking the trajectory of the preset target according to the detected target position of the preset target specifically includes: Each of the aircraft continuously detects the target direction of the preset target relative to itself; The plurality of aircrafts determine the target position of the preset target according to the own state information and the target direction, wherein the own state information includes the own position information of the aircraft; Determining a target trajectory of the preset target according to the target position of the preset target duration; Based on the target trajectory, a trajectory tracking algorithm for the aircraft is determined.

5. The unmanned underwater vehicle cooperative capture method according to claim 4, characterized in that: Determining the trajectory tracking algorithm of the aircraft based on the target trajectory specifically includes: According to the target trajectory and the center position of the flexible capture rope net, the trajectory control input of the navigator among the multiple aircraft is determined, and the trajectory control input of the navigator is expressed as follows: Among them, u'1(t) is the trajectory control input of the navigator, μ1 is the algorithm proportional coefficient, g(t) is the target trajectory, It is the center position of the flexible capture rope net.

6. The unmanned underwater vehicle cooperative capture method according to claim 4, characterized in that: Determining the trajectory tracking algorithm of the aircraft based on the target trajectory specifically includes: Based on the preset reference trajectory of the follower, the trajectory control input of the follower is determined, and the trajectory control input of the follower is expressed as follows: u i (t)=μ i (r i (t)-q i (t)),i=2,3…k Among them, u2(t),u3(t),…,u k (t) are the trajectory control inputs of followers {2,,3,…,k}, r2(t),r3(t),…,r k (t) are the reference trajectories of followers {2,,3,…,k}, q2(t),q3(t),…,q k (t) are the actual trajectories of followers {2,,3,…,k}, μ i is the algorithm scaling factor.

7. The method for cooperative capture of unmanned underwater vehicles according to claim 4, characterized in that: The multiple aircraft determine the target position of the preset target according to the own state information and the target direction, and specifically calculate the target position by simultaneously solving the following set of equations: Where (x, y, z) is the target position, (x i ,y i ,z i ) is the state information of the i-th (i=1,2,…,k) aircraft, (a i ,b i ,c i ) is the target direction of the preset target detected by the i-th (i=1, 2,…, k) aircraft relative to itself.

8. An unmanned underwater vehicle cooperative capture device, characterized in that: The device comprises an acquisition module (401), a control module (402), a tracking module (403) and a processing module (404), wherein: The acquisition module (401) is used to collect its own status information and maintain communication with other aircraft, wherein a flexible capture rope net is formed between multiple aircraft; The control module (402) is used to control a plurality of the aircraft to form an aircraft formation and enter a water area of ​​a predetermined depth; The control module (402) is used to control the aircraft formation to cruise according to a preset trajectory and start searching for targets; The tracking module (403) is used to track the trajectory of the preset target according to the detected target position of the preset target when the aircraft formation searches for the preset target; The processing module (404) is used to, if it is determined that the distance between the preset target and the flexible capture rope net is less than the preset distance, enable the plurality of aircraft to capture the preset target by tightening the flexible capture rope net.

9. An electronic device, characterized in that: The electronic device comprises a processor (501), a communication bus (502), a memory (505), a user interface (503), a network interface (504) and a memory (505), wherein the memory (505) is used to store instructions, the user interface (503) and the network interface (504) are both used to communicate with other devices, and the processor (501) is used to execute the instructions stored in the memory (505) so that the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 7 is performed.

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