Comprehensive management and control architecture for multi-UUV cooperative formation control and construction method

Abstract

The invention belongs to the technical field of cooperative control, and particularly relates to a comprehensive management and control framework for multi-UUV cooperative formation control and a building method. The architecture comprises a formation layer, a marshalling layer and a platform layer which are respectively corresponding to a multi-UUV collaborative formation command center, a manned platform and a multi-UUV cluster; the formation layer completes tactical marshalling generation, and a formation command center organizes marshalling to cooperatively complete task mission allocation; the marshalling layer generates a marshalling to-be-executed task sequence by taking the situation in the marshalling as a constraint condition; the input of the platform layer is a platform task execution instruction, the platform task execution instruction given by the marshalling layer is further refined based on the situation in the platform, a subtask sequence of the platform is generated and maintained, track planning and load action planning are dynamically performed according to the current subtask to be executed, and the execution of the multi-UUV cluster is controlled. Meanwhile, an execution result is fed back to the marshalling layer.

Description

Technical Field

[0001] The present invention belongs to the field of collaborative control technology, and specifically relates to an integrated management and control architecture and a construction method for collaborative formation control of multiple UUVs. Background Art

[0002] With the rapid development of underwater UUVs, the trend of underwater mission execution has shifted from mainly manned platforms to a combination of multiple UUVs. This trend of change is manifested in two aspects: first, from the perspective of the mission field, the mission field of UUVs will expand from mainly support to main combat, and gradually penetrate into the entire mission field and the entire process of action; second, from the perspective of the mission subject, manned platforms gradually move from the front end of the mission to the back, and UUVs begin to transform from supplements and assists to equal partners of manned platforms. Therefore, in the future marine mission environment, multi-UUV coordination will inevitably become the main combat style, and the degree of close coordination between multiple UUVs will directly determine the execution effect of the mission. The coordination between multiple UUVs requires a set of fully functional integrated management and control systems for control. Summary of the invention

[0003] In view of this, the present invention provides a comprehensive control architecture and construction method for collaborative formation control of multiple UUVs, considers the control requirements of various mission scenarios, designs a reliable and efficient multi-UUV control system architecture, and can realize collaborative control of multiple UUVs.

[0004] The technical solution for implementing the present invention is as follows:

[0005] In a first aspect, an embodiment of the present application provides a comprehensive control architecture for multi-UUV collaborative formation control, including a formation layer, a group layer, and a platform layer, which correspond to a multi-UUV collaborative formation command center, a manned platform, and a multi-UUV cluster, respectively;

[0006] The input of the formation layer is the mission, environmental situation, intelligence information and sensor information, and completes the tactical formation generation. The formation command center organizes each formation to collaboratively complete the mission allocation, outputs the formation task execution instructions to the formation layer, and provides key decision-making instructions and parameters for the action planning of the formation layer. At the same time, it also schedules and monitors the task execution and receives the execution result feedback from the formation layer;

[0007] The input of the marshaling layer is the marshaling task execution instruction. Taking the situation within the marshaling as a constraint condition, the marshaling task sequence to be executed is generated. The marshaling control node organizes the members within the marshaling to collaboratively complete the task allocation, and outputs the platform task execution instruction to the platform layer. At the same time, it provides key tactical decision-making instructions and parameters for the manned platform within the marshaling, schedules and monitors the marshaling execution task queue, and receives the execution result feedback from the platform layer;

[0008] The input of the platform layer is the platform task execution instruction. Based on the situation within the platform, the platform task execution instruction given by the marshalling layer is further refined to generate and maintain the subtask sequence of this platform. According to the dynamics of the subtask to be executed, the trajectory planning and payload action planning are carried out to control the execution of the multi-UUV cluster, and the execution results are fed back to the marshalling layer.

[0009] Furthermore, the present invention pushes the situation between any two layers and completes the situation fusion at this level. During the execution of the mission, according to the dynamic changes of the situation, each level continuously dynamically adjusts the task execution instructions through on-the-spot planning and task scheduling to achieve the best control of the entire multi-UUV collaborative formation.

[0010] Furthermore, the formation layer, group layer and platform layer described in the present invention all include situation management, command decision-making and collaborative mission planning;

[0011] Situation management is implemented by the situation awareness layer and the situation cognition layer. The situation awareness layer is mainly composed of radar and sonar equipment to collect external battlefield environment information. The situation cognition layer is composed of situation cognition intelligent agents and commanders’ expert experience platform to comprehensively understand the current battlefield situation and thus determine the current combat scenario.

[0012] Command decisions are realized by the UUV decision-making support system, case-based reasoning decision-making support system and commander-fighter decision-making system.

[0013] Collaborative task planning is implemented by a multi-constraint collaborative task planning system. The collaborative planning layer is responsible for decomposing the superior task into subtasks. The platform layer collaborative task planning also relies on the weak communication formation control system, which sends the subtasks to the terminal UUV through the network layer.

[0014] Furthermore, the network layer of the present invention includes at least one of underwater acoustic communication, optical communication and radio communication.

[0015] In the second aspect, the embodiment of the present application provides a method for building an integrated control architecture for multi-UUV collaborative formation control, and the specific process is as follows:

[0016] S1. According to the demand analysis of multi-UUV integrated control system in different marine mission scenarios, determine the architecture level and the input and output of each layer; the specific process is:

[0017] According to the demand analysis of the overall architecture of the multi-UUV integrated control system in different marine mission scenarios, it is determined that it includes formation layer, group layer and platform layer, which correspond to the command center of the multi-UUV integrated control system, manned platform and multi-UUV cluster respectively. Each layer should have the functions of situation management, collaborative mission planning and command decision-making;

[0018] S2. Based on the architecture level and input and output of each layer determined in step S1, determine the execution function of each layer and obtain the comprehensive control architecture of multi-UUV collaborative formation control; the specific process is:

[0019] S21, the input of the formation layer is the mission, environmental situation, intelligence information and sensor information, completes the tactical formation generation, and the formation command center organizes each formation to coordinately complete the mission allocation, outputs the formation task execution instructions to the formation layer, and provides key decision-making instructions and parameters for the action planning of the formation layer. At the same time, it also schedules and monitors the execution of the task and receives the execution result feedback from the formation layer;

[0020] S22, the input of the marshaling layer is the marshaling task execution instruction. Taking the situation in the marshaling as the constraint condition, the marshaling task sequence to be executed is generated. The marshaling control node organizes the members in the marshaling to complete the task allocation collaboratively, and outputs the platform task execution instruction to the platform layer. At the same time, it provides key tactical decision-making instructions and parameters for the manned platform in the marshaling, schedules and monitors the marshaling execution task queue, and receives the execution result feedback from the platform layer;

[0021] S23. The input of the platform layer is the platform task execution instruction. Based on the situation in the platform, the platform task execution instruction given by the marshalling layer is further refined to generate and maintain the subtask sequence of this platform. The trajectory planning and payload action planning are dynamically performed according to the current subtask to be executed, and the execution of the multi-UUV cluster is controlled. At the same time, the execution results are fed back to the marshalling layer.

[0022] Beneficial effects:

[0023] First, the present invention focuses on the problem of multi-UUV command and control system. On the basis of summarizing the business functions and working environment of the command and control system, it proposes a "distributed" control system architecture for the marine environment. On the above basis, the control system architecture of "man-unmanned combination (man-machine combination)", "multi-terminal interconnection" and "intelligent terminal group" is proposed, which is aimed at a complete combat command and control process architecture in the battlefield. At the same time, the combat process under this architecture and the corresponding functions responsible for each level are proposed, which improves the availability and reliability for the mission environment with more practical significance and application value.

[0024] Secondly, the integrated management and control architecture of the collaborative formation control of multiple UUVs of the present invention establishes a centralized structure between the manned platform and multiple UUVs. The manned platform can monitor each UUV in real time, summarize and analyze the information returned by the UUVs, issue instructions, and perform operations. When no instructions are received, multiple UUVs work under a distributed structure, which not only improves the real-time performance, but also greatly reduces the workload of the manned platform.

[0025] Third, the integrated management and control architecture of multi-UUV collaborative formation control of the present invention introduces human intelligence to assist UUV in decision-making, fully leveraging the advantages of multiple UUVs and making up for the shortcomings of the low level of autonomy of multiple UUVs. Facing multiple underwater constraints, the task strategies collaboratively generated by multiple UUVs not only improve the real-time performance, but also expand the strategy generation library of the multi-UUV integrated management and control system, thereby improving learning ability and autonomy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 is a flow chart of the present invention;

[0028] Figure 2 It is a flow chart for the control of the task scenario of coordinated anti-large surface target;

[0029] Figure 3 A flow chart for the control of task scenarios for collaborative detection of small and medium-sized underwater targets;

[0030] Figure 4 This is a diagram of the distributed control structure;

[0031] Figure 5 This is a functional hierarchy diagram of the multi-UUV collaborative command and control architecture;

[0032] Figure 6 Mission command flow chart. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

[0035] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0036] like Figure 5 As shown, an integrated management and control architecture for multi-UUV collaborative formation control in an embodiment of the present application includes a formation layer, a group layer, and a platform layer, which correspond to a multi-UUV collaborative formation command center, a manned platform, and a multi-UUV cluster, respectively;

[0037] The input of the formation layer is the mission, environmental situation, intelligence information and sensor information, and completes the tactical formation generation. The formation command center organizes each formation to collaboratively complete the mission allocation, outputs the formation task execution instructions to the formation layer, and provides key decision-making instructions and parameters for the action planning of the formation layer. At the same time, it also schedules and monitors the task execution and receives the execution result feedback from the formation layer;

[0038] The input of the marshaling layer is the marshaling task execution instruction. Taking the situation within the marshaling as a constraint condition, the marshaling task sequence to be executed is generated. The marshaling control node organizes the members within the marshaling to collaboratively complete the task allocation, and outputs the platform task execution instruction to the platform layer. At the same time, it provides key tactical decision-making instructions and parameters for the manned platform within the marshaling, schedules and monitors the marshaling execution task queue, and receives the execution result feedback from the platform layer;

[0039] The input of the platform layer is the platform task execution instruction. Based on the situation within the platform, the platform task execution instruction given by the marshalling layer is further refined to generate and maintain the subtask sequence of this platform. According to the dynamics of the subtask to be executed, the trajectory planning and payload action planning are carried out to control the execution of the multi-UUV cluster, and the execution results are fed back to the marshalling layer.

[0040] Another embodiment of the present application performs situation push between any two layers and completes situation fusion at this level. During the execution of the mission, according to the dynamic changes of the situation, each layer continuously performs dynamic adjustments to the task execution instructions through on-the-spot planning and task scheduling to achieve optimal control of the entire multi-UUV collaborative formation.

[0041] In another embodiment of the present application, the formation layer, the grouping layer and the platform layer all include situation management, command decision-making and collaborative task planning; situation management is implemented by the situation awareness layer and the situation cognition layer, the situation awareness layer is mainly composed of radar and sonar equipment, and is used to collect external battlefield environment information, and the situation cognition layer is composed of a situation cognition intelligent agent and an expert experience platform of commanders and fighters, and is used to comprehensively recognize the current battlefield situation, so as to judge the current combat scenario; command decision-making is comprehensively implemented by the UUV auxiliary decision-making system, the case reasoning auxiliary decision-making system and the commander and fighter decision-making system; collaborative task planning is implemented by a multi-constraint collaborative task planning system, the collaborative planning layer is responsible for decomposing and planning the superior task into sub-tasks, and the platform layer collaborative task planning also relies on the weak communication formation control system, and the weak communication formation control system sends the sub-tasks to the terminal UUV through the network layer.

[0042] In another embodiment of the present application, the network layer includes at least one of underwater acoustic communication, optical communication and radio communication.

[0043] The present application embodiment provides a method for building an integrated control architecture for multi-UUV collaborative formation control, including:

[0044] S1. Determine the architecture level and input and output of each layer based on the demand analysis of the multi-UUV integrated control system in different marine mission scenarios;

[0045] For multi-UUV collaborative anti-large surface target mission scenarios, such as Figure 2 Design a control process from four stages: target reconnaissance, planning and decision-making, target attack, and effect evaluation; for multi-UUV collaborative detection of small and medium-sized underwater targets, such as Figure 3 Design the control process from three stages: mission deployment, reconnaissance and detection, and target strike; Figure 4 The distributed multi-UUV integrated control system architecture divides the entire system into three layers: formation layer, group layer and platform layer. The specific process is:

[0046] S11. According to the demand analysis of the overall architecture of the multi-UUV integrated control system in different marine mission scenarios, it is determined that the formation layer, group layer and platform layer correspond to the command center of the multi-UUV integrated control system, the manned platform and the multi-UUV cluster respectively. Each layer should have the functions of situation management, collaborative mission planning and command decision-making;

[0047] S12, the formation layer needs to input the mission mission, environmental situation, intelligence information, sensor information, etc., and output the task execution instructions to the grouping layer, and receive the execution result feedback from the grouping layer;

[0048] S13, the marshalling layer needs to input task execution instructions, etc., and output task execution instructions to the platform layer, and receive execution result feedback from the platform layer;

[0049] S14. The platform layer needs to input task execution instructions, etc., and output task execution instructions to the marshalling layer, and at the same time feedback the execution results to the marshalling layer.

[0050] S2. Based on the architecture level and input and output of each layer determined in step S1, determine the execution function of each layer and obtain the comprehensive control architecture of multi-UUV collaborative formation control; the specific process is:

[0051] S21, the input of the formation layer is the mission, environmental situation, intelligence information and sensor information, completes the tactical formation generation, and the formation command center organizes each formation to coordinately complete the mission allocation, outputs the formation task execution instructions to the formation layer, and provides key decision-making instructions and parameters for the action planning of the formation layer. At the same time, it also schedules and monitors the execution of the task and receives the execution result feedback from the formation layer;

[0052] S22, the input of the marshaling layer is the marshaling task execution instruction. Taking the situation in the marshaling as the constraint condition, the marshaling task sequence to be executed is generated. The marshaling control node organizes the members in the marshaling to complete the task allocation collaboratively, and outputs the platform task execution instruction to the platform layer. At the same time, it provides key tactical decision-making instructions and parameters for the manned platform in the marshaling, schedules and monitors the marshaling execution task queue, and receives the execution result feedback from the platform layer;

[0053] S23. The input of the platform layer is the platform task execution instruction. Based on the situation in the platform, the platform task execution instruction given by the marshalling layer is further refined to generate and maintain the subtask sequence of this platform. The trajectory planning and payload action planning are dynamically performed according to the current subtask to be executed, and the execution of the multi-UUV cluster is controlled. At the same time, the execution results are fed back to the marshalling layer.

[0054] This embodiment further includes step S3 and step S4; step S3, refine the distributed hierarchical structure model to obtain Figure 5 The functional hierarchy of the collaborative command and control architecture:

[0055] S31. Based on the design of the overall architecture, the internal structure is refined to provide the command and control process of multiple UUVs, such as Figure 6 As shown in the figure, the system is divided into situation awareness layer, situation cognition layer, command decision layer, collaborative planning and control layer, network layer, and terminal equipment layer. At the same time, the task flow under this architecture and the corresponding functions of each layer are proposed;

[0056] S32, the situational awareness layer is composed of radar, sonar and other equipment, and is mainly responsible for collecting information about the external battlefield environment; the situational cognition layer is composed of situational cognition intelligent agents and commanders and fighters' expert experience platforms, and is mainly responsible for comprehensive cognition of the current battlefield situation, thereby determining the current combat scenario and pushing it to the command decision layer; the command decision layer is composed of the UUV auxiliary decision system, the case reasoning auxiliary decision system and the commanders and fighters' decision-making system, and is mainly responsible for deciding which task to perform; the collaborative planning and control layer is composed of a multi-constraint collaborative task planning system and a weak communication formation control system, in which the collaborative planning layer is responsible for decomposing and planning the superior task into subtasks, and sending the subtasks to the terminal UUV through the network layer (hydroacoustic communication, optical communication and radio communication). Each UUV in the terminal equipment layer is collaboratively controlled according to the onboard computer, so as to collaboratively perform the tasks assigned by the superior.

[0057] S33. Based on the design of the overall architecture, the key technologies of architecture design are given:

[0058] Distributed structure model: In the distributed architecture, multiple UUVs form a distributed architecture, and then a centralized structure is established between the manned platform and multiple UUVs. The manned platform can monitor each UUV in real time, summarize and analyze the information returned by the UUV, issue instructions, and perform operations. When no instructions are received, multiple UUVs work under a distributed structure, which not only improves the real-time performance, but also greatly reduces the workload of the manned platform.

[0059] Introducing human intelligence to assist UUVs in decision-making: Introducing human intelligence to conduct collaborative control of multiple UUVs, giving full play to the advantages of multiple UUVs and making up for the shortcomings of the low level of autonomy of multiple UUVs. In the face of multiple underwater constraints, the task strategies collaboratively generated by multiple UUVs not only improve the real-time performance, but also expand the strategy generation library of the multi-UUV comprehensive control system, and improve learning ability and autonomy.

[0060] S4. Design multi-UUV integrated management and control system software to achieve efficient collaboration among multiple UUVs.

[0061] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An integrated control architecture for multi-UUV collaborative formation control, characterized in that: It includes formation layer, group layer and platform layer, corresponding to the multi-UUV collaborative formation command center, manned platform and multi-UUV cluster respectively; The input of the formation layer is the mission, environmental situation, intelligence information and sensor information, and completes the tactical formation generation. The formation command center organizes each formation to collaboratively complete the mission allocation, outputs the formation task execution instructions to the formation layer, and provides key decision-making instructions and parameters for the action planning of the formation layer. At the same time, it also schedules and monitors the task execution and receives the execution result feedback from the formation layer; The input of the marshaling layer is the marshaling task execution instruction. Taking the situation within the marshaling as a constraint condition, the marshaling task sequence to be executed is generated. The marshaling control node organizes the members within the marshaling to collaboratively complete the task allocation, and outputs the platform task execution instruction to the platform layer. At the same time, it provides key tactical decision-making instructions and parameters for the manned platform within the marshaling, schedules and monitors the marshaling execution task queue, and receives the execution result feedback from the platform layer; The input of the platform layer is the platform task execution instruction. Based on the situation within the platform, the platform task execution instruction given by the marshalling layer is further refined to generate and maintain the subtask sequence of this platform. According to the dynamics of the subtask to be executed, the trajectory planning and payload action planning are carried out to control the execution of the multi-UUV cluster, and the execution results are fed back to the marshalling layer.

2. The integrated management and control architecture for multi-UUV collaborative formation control according to claim 1 is characterized in that: Push the situation between any two layers and complete the situation fusion at this level. During the execution of the mission, according to the dynamic changes of the situation, each level continuously adjusts the task execution instructions through ad hoc planning and task scheduling to achieve the best control of the entire multi-UUV collaborative formation.

3. The integrated management and control architecture for multi-UUV collaborative formation control according to claim 1 is characterized in that: The formation layer, group layer and platform layer all include situation management, command decision-making and collaborative mission planning; Situation management is implemented by the situation awareness layer and the situation cognition layer. The situation awareness layer is mainly composed of radar and sonar equipment to collect external battlefield environment information. The situation cognition layer is composed of situation cognition intelligent agents and commanders’ expert experience platform to comprehensively understand the current battlefield situation and thus determine the current combat scenario. Command decisions are realized by the UUV decision-making support system, case-based reasoning decision-making support system and commander-fighter decision-making system. Collaborative task planning is implemented by a multi-constraint collaborative task planning system. The collaborative planning layer is responsible for decomposing the superior task into subtasks. The platform layer collaborative task planning also relies on the weak communication formation control system, which sends the subtasks to the terminal UUV through the network layer.

4. The integrated management and control architecture for multi-UUV collaborative formation control according to claim 1 is characterized in that: The network layer includes at least one of underwater acoustic communication, optical communication and radio communication.

5. A method for building an integrated management and control architecture for multi-UUV collaborative formation control, characterized in that: The specific process is: S1. According to the demand analysis of multi-UUV integrated control system in different marine mission scenarios, determine the architecture level and the input and output of each layer; the specific process is: According to the demand analysis of the overall architecture of the multi-UUV integrated control system in different marine mission scenarios, it is determined that it includes formation layer, group layer and platform layer, which correspond to the command center of the multi-UUV integrated control system, manned platform and multi-UUV cluster respectively. Each layer should have the functions of situation management, collaborative mission planning and command decision-making; S2. Based on the architecture level and input and output of each layer determined in step S1, determine the execution function of each layer and obtain the comprehensive control architecture of multi-UUV collaborative formation control; The specific process is: S21, the input of the formation layer is the mission, environmental situation, intelligence information and sensor information, completes the tactical formation generation, and the formation command center organizes each formation to coordinately complete the mission allocation, outputs the formation task execution instructions to the formation layer, and provides key decision-making instructions and parameters for the action planning of the formation layer. At the same time, it also schedules and monitors the execution of the task and receives the execution result feedback from the formation layer; S22, the input of the marshaling layer is the marshaling task execution instruction. Taking the situation in the marshaling as the constraint condition, the marshaling task sequence to be executed is generated. The marshaling control node organizes the members in the marshaling to complete the task allocation collaboratively, and outputs the platform task execution instruction to the platform layer. At the same time, it provides key tactical decision-making instructions and parameters for the manned platform in the marshaling, schedules and monitors the marshaling execution task queue, and receives the execution result feedback from the platform layer; S23. The input of the platform layer is the platform task execution instruction. Based on the situation in the platform, the platform task execution instruction given by the marshalling layer is further refined to generate and maintain the subtask sequence of this platform. The trajectory planning and payload action planning are dynamically performed according to the current subtask to be executed, and the execution of the multi-UUV cluster is controlled. At the same time, the execution results are fed back to the marshalling layer.

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