Unmanned aerial vehicle cluster simulation unit device and unmanned aerial vehicle cluster simulation system

Abstract

The invention discloses an unmanned aerial vehicle cluster simulation unit device and an unmanned aerial vehicle cluster simulation system. The unmanned aerial vehicle cluster simulation unit device comprises a shell and a plurality of flight controllers arranged in the shell, the plurality of flight controllers are connected in parallel; any flight controller in the plurality of flight controllers corresponds to one simulation unmanned aerial vehicle in the unmanned aerial vehicle cluster; when the unmanned aerial vehicle cluster simulation unit device is used, at least part of the flight controllers are used for receiving cluster control instructions sent by an unmanned aerial vehicle cluster control application operated by the simulation host; and based on the cluster control instruction, controlling the flight attitude and the flight path of at least part of the simulation unmanned aerial vehicles corresponding to at least part of the flight controllers.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle simulation, and in particular to a unmanned aerial vehicle cluster simulation unit device and a unmanned aerial vehicle cluster simulation system. Background Art

[0002] Nowadays, with the development of chips, artificial intelligence, and big data technologies, drones have begun to develop in an intelligent, terminal, and clustered manner, and the corresponding flight control system's related performance requirements and internal software algorithms have also been improved accordingly. The flight control system is a control device used in unmanned systems such as drones, and can be regarded as the brain of the drone. For example, it can control the drone's flight, hovering, attitude changes, etc.

[0003] In the field of UAV swarm simulation, how to provide better hardware support for the UAV swarm simulation process so that the setting method of the flight controller can meet the convenience and flexibility requirements of the UAV swarm simulation process is a problem that needs to be solved. Summary of the invention

[0004] The present invention provides a drone cluster simulation unit device and a battery to solve the problem that the existing flight controller setting method cannot meet the convenience and flexibility requirements of the drone cluster simulation process.

[0005] In order to solve the above technical problems, according to one aspect of the present invention, a drone cluster simulation unit device is provided, the drone cluster simulation unit device comprising: a housing, and a plurality of flight controllers arranged in the housing; the plurality of flight controllers are connected in parallel; any flight controller of the plurality of flight controllers corresponds to a simulated drone in the drone cluster;

[0006] When the drone cluster simulation unit device is in use, at least some of the multiple flight controllers are used to receive cluster control instructions sent from a drone cluster control application running on a simulation host, and control the flight attitude and flight trajectory of at least some of the simulated drones corresponding to at least some of the flight controllers based on the cluster control instructions, and the at least some of the simulated drones are simulated drones in the drone cluster that are related to the cluster control instructions.

[0007] Among them, after building the drone cluster simulation environment, the simulation software of the simulation host imports the drone cluster control application and runs the application to simulate the preset flight mission of the drone cluster, generate the cluster control instructions, and send the cluster control instructions to at least part of the flight controller.

[0008] In one embodiment, the plurality of flight controllers are arranged in layers within the housing.

[0009] In one implementation, the multiple flight controllers correspond to the same control switch.

[0010] In one embodiment, the drone cluster simulation unit device further includes: a heat dissipation unit for dissipating heat from the multiple flight controllers.

[0011] In one embodiment, the drone cluster simulation unit device also includes: an external port corresponding to each of the flight controllers.

[0012] In one embodiment, the drone cluster simulation unit device also includes: a working status indicator light corresponding to each of the flight controllers.

[0013] According to another aspect of the present invention, there is provided a drone cluster simulation system, the drone cluster simulation system comprising: a simulation host, a simulated drone display module, an environment simulation module and the drone cluster simulation unit device as described above;

[0014] After the simulation software of the simulation host is loaded with the UAV cluster simulation environment, the UAV cluster control application is imported and run to simulate the preset flight mission of the UAV cluster, generate the cluster control instruction, and send the cluster control instruction to at least part of the flight controllers in the UAV cluster simulation unit device;

[0015] The simulated drone display module is used to display the motion posture and motion trajectory of at least part of the simulated drones in the drone cluster simulation environment;

[0016] The environment simulation module is used to transmit the true value state data and simulation environment image data of the simulated drone to the simulation host, so that the simulation host generates the drone cluster simulation environment based on the true value state data and simulation environment image data of the simulated drone.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] The unmanned aerial vehicle cluster simulation unit device provided by the present invention includes a housing, a plurality of flight controllers arranged in the housing; the plurality of flight controllers are connected in parallel; any of the plurality of flight controllers corresponds to a simulated unmanned aerial vehicle in the unmanned aerial vehicle cluster; when the unmanned aerial vehicle cluster simulation unit device is in use, at least some of the flight controllers in the plurality of flight controllers are used to receive the cluster control instructions sent by the unmanned aerial vehicle cluster control application running from the simulation host, and control the flight attitude and flight trajectory of at least some of the simulated unmanned aerial vehicles corresponding to at least some of the flight controllers based on the cluster control instructions, and at least some of the simulated unmanned aerial vehicles are simulated unmanned aerial vehicles related to the cluster control instructions in the unmanned aerial vehicle cluster; wherein, after building the unmanned aerial vehicle cluster simulation environment, the simulation software of the simulation host imports the unmanned aerial vehicle cluster control application and runs the application to simulate the preset flight mission of the unmanned aerial vehicle cluster, generate the cluster control instructions, and send the cluster control instructions to the at least some of the flight controllers. By using the unmanned aerial vehicle cluster simulation unit device, multiple flight controllers can be started and managed synchronously during the unmanned aerial vehicle cluster simulation process of the unmanned aerial vehicle semi-physical simulation platform, and the corresponding simulated unmanned aerial vehicles in the cluster can be controlled accordingly, so as to realize the efficient deployment and simplified operation of cluster simulation hardware such as flight controllers, and realize the convenience and flexibility setting requirements for multiple flight controllers during the unmanned aerial vehicle cluster simulation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of a drone cluster simulation unit device provided in an embodiment of the present application;

[0020] Notes on the attached drawings:

[0021] 1 upper housing, 2 control switch, 3 housing, 4 power head, 5 lower housing, 6 flight controller, 7 external port, 8 cooling unit, 9 working status indicator light. DETAILED DESCRIPTION

[0022] Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited to the specific implementation disclosed below.

[0023] For the UAV swarm simulation scenario, in order to make the flight controller setting method meet the convenience and flexibility requirements of the UAV swarm simulation process, the present application provides a UAV swarm simulation unit device and a UAV swarm simulation system. The following provides embodiments to describe the above device and system in detail.

[0024] The first embodiment of the present application provides a UAV cluster simulation unit device, which, as the main carrier of cluster simulation, can integrate multiple sets of hardware devices such as flight controllers, and is mainly used in semi-physical simulation platforms in the field of multi-machine cluster simulation of unmanned systems such as UAVs. The semi-physical simulation platform uses semi-physical simulation technology to add some hardware, such as nonlinear sensors or flight controllers, to the simulation system, build a simulation environment linked to the flight controller, obtain real data and replace part of the simulation data through the connection with the hardware, and introduce part of the simulated system into the simulation loop in a physical way based on the real physical model, which can reduce the error between the virtual system and the real device to improve the confidence of the system. Compared with the full digital simulation technology, the semi-physical simulation technology has higher fidelity, can simulate the state of the device sensor more realistically, can better verify the correctness and feasibility of the system solution, simulate the fault mode, etc., and conduct closed-loop dynamic tests for verification of each development stage.

[0025] Figure 1 is a schematic diagram of the UAV cluster simulation unit device, as shown in Figure 1 As shown, the drone cluster simulation unit device includes: a shell 3 (including an upper shell 1 and a lower shell 5), and a plurality of flight controllers 6 arranged in the shell; the plurality of flight controllers 6 are connected in parallel; any flight controller in the plurality of flight controllers 6 corresponds to a simulated drone in the drone cluster;

[0026] When the drone cluster simulation unit device is in use, at least some of the multiple flight controllers are used to receive cluster control instructions sent from the drone cluster control application run by the simulation host, and control the flight attitude and flight trajectory of at least some of the simulated drones corresponding to at least some of the flight controllers based on the cluster control instructions. At least some of the simulated drones are simulated drones in the drone cluster that are related to the cluster control instructions. After setting up the drone cluster simulation environment, the simulation software of the simulation host imports the drone cluster control application and runs the application to simulate the preset flight missions of the drone cluster, generate cluster control instructions, and send the cluster control instructions to at least some of the above-mentioned flight controllers.

[0027] In this embodiment, multiple flight controllers 6 can be arranged in layers within the shell 3 to reduce the use area of ​​the drone cluster simulation unit device. That is, compared with the same-layer setting, the layered arrangement occupies a smaller arrangement area, making the arrangement structure of multiple flight controllers 6 more compact.

[0028] In another embodiment, multiple flight controllers 6 can also be arranged symmetrically in the same layer in the shell 3 to avoid all the flight controllers being arranged in the same row and causing the length to be too long.

[0029] In this embodiment, a plurality of flight controllers 6 correspond to the same control switch 2, so as to facilitate centralized and synchronous control of the startup processes of a plurality of aircraft.

[0030] In another embodiment, multiple flight controllers 6 may also correspond to their own control switches respectively, so as to flexibly control each flight controller in combination with the simulation operation requirements of the simulated drones in the drone cluster.

[0031] In this embodiment, the drone cluster simulation unit device further includes a heat dissipation unit 8 for dissipating heat from multiple flight controllers. That is, since multiple flight controllers are centrally arranged in the housing, a single heat dissipation unit can be used to centrally dissipate heat from all flight controllers in the startup state, thereby avoiding overheating problems caused by centrally setting multiple flight controllers and synchronously starting and running multiple flight controllers.

[0032] In this embodiment, the drone cluster simulation unit device also includes external ports 7 corresponding to each flight controller, such as an external debugging port, to perform function debugging or data transmission on each flight controller.

[0033] In this embodiment, the drone cluster simulation unit device also includes a working status indicator light 9 corresponding to each flight controller. Since each flight controller controls a simulated drone in the cluster, the flight controller in the working state can be clearly shown by setting the working status indicator light 9. Corresponding to the working status indicator light 9, a light-transmitting through hole can be set at a corresponding position on the surface of the upper shell, so as to observe the operating status of each flight controller from the outside of the shell.

[0034] The drone cluster simulation unit device provided in this embodiment includes a housing, a plurality of flight controllers arranged in the housing; the plurality of flight controllers are connected in parallel; any of the plurality of flight controllers corresponds to a simulated drone in the drone cluster; when the drone cluster simulation unit device is in use, at least some of the flight controllers are used to receive the cluster control instructions sent by the drone cluster control application running on the simulation host, and control the flight attitude and flight trajectory of at least some of the simulated drones corresponding to at least some of the flight controllers based on the cluster control instructions, and at least some of the simulated drones are simulated drones related to the cluster control instructions in the drone cluster; wherein, after building the drone cluster simulation environment, the simulation software of the simulation host imports the drone cluster control application and runs the application to simulate the preset flight mission of the drone cluster, generate cluster control instructions, and send the cluster control instructions to at least some of the flight controllers. By using the drone cluster simulation unit device, multiple flight controllers can be started and managed synchronously during the drone cluster simulation process of the drone semi-physical simulation platform, and the corresponding simulated drones in the cluster can be controlled respectively, so as to realize the efficient deployment and simplified operation of cluster simulation hardware such as flight controllers, and realize the convenience and flexibility setting requirements for multiple flight controllers during the drone cluster simulation process.

[0035] Another embodiment of the present application further provides a drone cluster simulation system, the simulation system comprising: a simulation host, a simulated drone display module, an environment simulation module, a drone simulation module, and the drone cluster simulation unit device described in the above embodiment;

[0036] After the simulation software of the simulation host is loaded with the UAV cluster simulation environment, the UAV cluster control application is imported and the application is run to simulate the preset flight mission of the UAV cluster, generate the cluster control instruction, and send the cluster control instruction to at least part of the flight controllers in the UAV cluster simulation unit device;

[0037] The simulated drone display module is used to display the motion posture and motion trajectory of at least part of the simulated drones in the drone cluster simulation environment;

[0038] The environment simulation module is used to transmit the true value state data and simulation environment image data of the simulated drone to the simulation host, so that the simulation host generates the drone cluster simulation environment based on the true value state data and simulation environment image data of the simulated drone.

[0039] It should be noted that although the present invention is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any technical personnel in this field may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims

1. A drone cluster simulation unit device, characterized in that: The drone cluster simulation unit device comprises: a housing, and a plurality of flight controllers arranged in the housing; the plurality of flight controllers are connected in parallel; any flight controller among the plurality of flight controllers corresponds to a simulated drone in the drone cluster; When the drone cluster simulation unit device is in use, at least some of the multiple flight controllers are used to receive cluster control instructions sent by a drone cluster control application running on a simulation host, and control the flight attitude and flight trajectory of at least some of the simulated drones corresponding to at least some of the flight controllers based on the cluster control instructions, wherein the at least some of the simulated drones are simulated drones in the drone cluster that are related to the cluster control instructions; Among them, after the simulation software of the simulation host is loaded with the drone cluster simulation environment, it imports the drone cluster control application and runs the application to simulate the preset flight mission of the drone cluster, generate the cluster control instructions, and send the cluster control instructions to at least part of the flight controller.

2. The drone cluster simulation unit device according to claim 1, characterized in that: The multiple flight controllers are arranged in layers within the shell.

3. The drone cluster simulation unit device according to claim 1, characterized in that: The multiple flight controllers correspond to the same control switch.

4. The drone cluster simulation unit device according to claim 1, characterized in that: The drone cluster simulation unit device also includes: a heat dissipation unit for dissipating heat from the multiple flight controllers.

5. The drone cluster simulation unit device according to claim 1, characterized in that: The drone cluster simulation unit device also includes: an external port corresponding to each of the flight controllers.

6. The drone cluster simulation unit device according to claim 1, characterized in that: The drone cluster simulation unit device also includes: working status indicator lights corresponding to each of the flight controllers.

7. A drone swarm simulation system, characterized in that: The drone cluster simulation system comprises: a simulation host, a simulated drone display module, an environment simulation module, and a drone cluster simulation unit device as described in any one of claims 1 to 6; After the simulation software of the simulation host is loaded with the UAV cluster simulation environment, the UAV cluster control application is imported and run to simulate the preset flight mission of the UAV cluster, generate the cluster control instruction, and send the cluster control instruction to at least part of the flight controllers in the UAV cluster simulation unit device; The simulated drone display module is used to display the motion posture and motion trajectory of at least part of the simulated drones in the drone cluster simulation environment; The environment simulation module is used to transmit the true value state data and simulation environment image data of the simulated drone to the simulation host, so that the simulation host generates the drone cluster simulation environment based on the true value state data and simulation environment image data of the simulated drone.

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