Investigation tool cruise speed cooperative control method and system based on air-ground cooperation

Abstract

The invention provides a cruise speed cooperative control method and system for a reconnaissance tool based on air-ground cooperation, and aims to solve the problem of speed matching of an unmanned aerial vehicle (UAV) and an unmanned vehicle (UGV) in a cooperative reconnaissance task. According to the method, the cruising speeds of the unmanned aerial vehicle and the unmanned aerial vehicle are dynamically calculated and adjusted according to investigation tasks and environmental conditions, so that cooperative work of the unmanned aerial vehicle and the unmanned aerial vehicle and efficient completion of tasks are ensured. The method comprises the following steps: firstly, calculating initial speeds of an unmanned aerial vehicle and an unmanned vehicle by acquiring related parameters and environmental factors of a reconnaissance task; and then, through a real-time feedback mechanism, the cruising speed of the unmanned aerial vehicle and the unmanned vehicle is dynamically adjusted according to real-time states such as task execution progress and deviation trajectory. According to the invention, the cooperative operation efficiency of the unmanned aerial vehicle and the unmanned vehicle is improved, changes in a complex environment can be coped with, and smooth completion of a reconnaissance task is ensured.

Description

Technical Field

[0001] The present invention relates to the field of air-ground collaborative reconnaissance, and in particular to a method and system for collaboratively controlling the cruising speed of a reconnaissance tool based on air-ground collaboration. Background Art

[0002] With the continuous development of drone and unmanned vehicle technology, air-ground collaborative reconnaissance missions have become an important application in the fields of military, emergency rescue, etc. As key components of ground-air collaborative operations, the collaborative work between drones and unmanned vehicles needs to consider many factors, such as the reconnaissance mission area, mission completion time, environmental changes, wind speed, temperature, etc.

[0003] However, the existing air-ground collaborative control methods mostly focus on the control of a single platform, and lack systematic research on air-ground collaborative speed control and efficient collaborative control strategies, which may lead to problems such as mismatched cruising speeds and low efficiency when drones and unmanned vehicles perform complex reconnaissance missions.

[0004] Therefore, how to design a control method that can not only perform accurate calculations according to mission requirements but also dynamically adjust the air-ground collaborative cruising speed during execution has become the key to improving the efficiency of air-ground collaborative reconnaissance mission execution. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to provide a method and system for coordinated control of the cruising speed of reconnaissance tools based on air-ground collaboration. The method can dynamically adjust the cruising speeds of UAVs and unmanned vehicles according to real-time changes in reconnaissance tasks and environments, and ensure coordinated work between the two, thereby improving reconnaissance efficiency and mission success rate.

[0006] Technical solution: In order to achieve the above-mentioned purpose, the present invention provides a method for coordinated control of the cruising speed of a reconnaissance tool based on air-ground coordination, wherein the reconnaissance tool includes a drone and an unmanned vehicle;

[0007] In the air-ground collaborative scenario, this collaborative control method dynamically adjusts the cruising speed of the UAV and the unmanned vehicle according to the reconnaissance mission and the real-time changes of the environment to ensure the collaborative work between the two:

[0008]

[0009] in, are the cruising speeds of the UAV and the unmanned vehicle, are the initial speeds of the UAV and the unmanned vehicle, ΔE UAV,UGV is the real-time state change of the UAV and the unmanned vehicle, and δ is the feedback coefficient.

[0010] As a further optimization solution of the present invention, the initial speed of the drone and the unmanned vehicle The expressions are:

[0011]

[0012] in, are the calculated initial speeds of the UAV and the unmanned vehicle,

[0013] These are the maximum speed limits for drones and driverless cars respectively.

[0014] As a further optimization solution of the present invention, the initial speed calculation value of the drone is The expression is:

[0015]

[0016] Among them, A UAV The area of ​​the reconnaissance area allocated to the drone, D UAV is the detection diameter of the UAV, T task The time to complete the reconnaissance mission and the impact function of environmental factors W is wind speed, T is temperature, α 1 ,α 2 is the influence coefficient of wind speed and temperature on the speed of the UAV.

[0017] As a further optimization solution of the present invention, the initial speed calculation value of the unmanned vehicle is The expression is:

[0018]

[0019] Among them, A UGV The area of ​​the reconnaissance area allocated to the unmanned vehicle, D UGV is the detection diameter of the unmanned vehicle, T task The function of the reconnaissance mission completion time, taking into account the effects of wind speed, temperature and terrain W is wind speed, T is temperature, N is terrain influence factor, β 1 , β 2 , β 3 is the influence coefficient of wind speed, temperature and terrain on the speed of the unmanned vehicle.

[0020] As a further optimization solution of the present invention, the real-time state change ΔE of the UAV and the unmanned vehicle UAV,UGV The expression is:

[0021]

[0022] Among them, R UAV and R UGV They are the real-time reconnaissance progress of drones and unmanned vehicles, and are the estimated detection progress of the UAV and the unmanned vehicle, ΔW is the change in wind speed, ΔT is the change in temperature, and γ 1 ,γ 2 is the influence coefficient of wind speed and temperature changes on speed adjustment.

[0023] Furthermore, a reconnaissance tool cruise speed collaborative control system based on air-ground collaboration is also provided, the system comprising:

[0024] Information collection module, used to obtain basic parameters of reconnaissance tasks and environment;

[0025] The initial speed calculation module is used to calculate the initial speed of drones and unmanned vehicles;

[0026] The cruising speed calculation module is used to calculate the cruising speed of drones and unmanned vehicles;

[0027] The collaborative speed calculation module is used to calculate the collaborative speed of drones and unmanned vehicles.

[0028] As a further optimization scheme of the present invention, the basic parameters of the reconnaissance mission and environment include the reconnaissance area allocated to the drone and the unmanned vehicle, the reconnaissance diameter of the drone and the unmanned vehicle, the completion time of the reconnaissance mission, wind speed, temperature, and terrain influencing factors.

[0029] Furthermore, a computer-readable storage medium storing one or more programs is also provided, wherein the one or more programs include instructions, and when the instructions are executed by a computing device, the computing device executes the method for coordinated control of the cruising speed of a reconnaissance tool based on air-ground collaboration as described above.

[0030] Furthermore, an electronic device is provided, comprising one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the method for coordinated control of the cruise speed of a reconnaissance tool based on air-ground collaboration as described above.

[0031] Beneficial effects:

[0032] ① Improve the efficiency of air-ground coordination: By dynamically adjusting the cruising speed of the UAV and the unmanned vehicle, the present invention can ensure the speed matching between the two and improve the efficiency of task execution, especially in complex and dynamic reconnaissance environments.

[0033] ② Enhanced mission adaptability: The present invention uses a real-time feedback mechanism to automatically adjust the speed according to environmental changes and mission execution progress, so that air-ground collaborative tasks can respond flexibly according to actual conditions, thereby improving the success rate of the mission.

[0034] ③ Reduce resource waste: Through precise calculation and dynamic adjustment, drones and unmanned vehicles can complete reconnaissance tasks more efficiently, avoiding energy waste and time waste caused by too fast or too slow speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a flow chart of the coordinated control method of the cruising speed of a reconnaissance tool based on air-ground collaboration. DETAILED DESCRIPTION

[0036] like Figure 1 As shown, the cruise speed collaborative control method of the reconnaissance tool based on air-ground collaboration of the present invention comprises the following steps:

[0037] 1. Obtain reconnaissance mission and environment related parameters:

[0038] Obtain relevant parameters of the reconnaissance mission and environmental factors, which will serve as inputs for calculation.

[0039] ●A UAV , A UGV The area of ​​the reconnaissance area allocated for drones and unmanned vehicles, in square meters (m 2 );

[0040] ●D UAV ,D UAGV is the detection diameter of UAVs and unmanned vehicles, in meters (m);

[0041] ●T task The time it takes to complete the reconnaissance mission, in seconds (s);

[0042] ●W is wind speed in meters per second (m / s);

[0043] ●T is temperature in degrees Celsius (℃);

[0044] ●N is the terrain influence factor, which indicates the influence of factors such as ground undulations and obstacles. The value range is 0 to 1, where 0 indicates flat and obstacle-free terrain and 1 indicates extremely complex terrain (which can be obtained through terrain scanning or sensors).

[0045] 2. Calculate the initial speed of the drone

[0046] The initial speed of the drone takes into account mission requirements and environmental factors:

[0047]

[0048] Among them, f(W,T) is the influence function of environmental factors, specifically:

[0049]

[0050] in:

[0051] ●W is wind speed in meters per second (m / s);

[0052] ●T is temperature in degrees Celsius (℃);

[0053] α 1 ,α 2 is the coefficient of wind speed and temperature on speed, obtained by fitting experimental data.

[0054] The initial velocity is:

[0055]

[0056] in, The maximum speed limit of the drone, in meters per second (m / s).

[0057] 3. Calculate the initial speed of the unmanned vehicle

[0058] The initial speed of the drone takes into account mission requirements and environmental factors:

[0059]

[0060] Among them, f(W,T,N) is a function that takes into account the influence of wind speed, temperature and terrain, specifically:

[0061]

[0062] in:

[0063] ●W is wind speed in meters per second (m / s);

[0064] ●T is temperature in degrees Celsius (℃);

[0065] ●N is the terrain influence factor, which is dimensionless and ranges from 0 to 1:

[0066] β 1 , β 2 , β 3 are coefficients obtained by fitting the experimental data.

[0067] The final initial speed of the unmanned vehicle is

[0068]

[0069] in, The maximum speed limit of the unmanned vehicle, in meters per second (m / s).

[0070] 4. Determine the UAV coordinated reconnaissance cruising speed:

[0071] The coordinated reconnaissance cruise speed of the UAV and the unmanned vehicle is adjusted through real-time status feedback to ensure efficient completion of the task. The adjustment model is:

[0072]

[0073] in:

[0074] ● is the adjusted UAV coordinated cruising speed, in meters per second (m / s);

[0075] ●δ is the feedback coefficient, which indicates the sensitivity of speed adjustment and is dimensionless;

[0076] ΔE UAV,UGV is the real-time state change of the UAV and the unmanned vehicle, which is specifically calculated as follows:

[0077]

[0078] in:

[0079] ●R UAV and R UGV They are the real-time reconnaissance progress of UAV and UGV respectively, in percentage (%);

[0080] ● and They are the estimated investigation progress, expressed in percentage (%);

[0081] ●ΔW is the change in wind speed, in meters per second (m / s);

[0082] ●ΔT is the temperature change in degrees Celsius (℃);

[0083] ●γ 1 ,γ 2 is the influence coefficient of wind speed and temperature changes on speed adjustment, and its unit is dimensionless.

[0084] Similarly, the coordinated cruising speed adjustment model of the unmanned vehicle is:

[0085]

[0086] In order to better understand the present invention, the present invention is described in detail below in conjunction with embodiments.

[0087] Example:

[0088] Suppose there is an air-ground collaborative reconnaissance mission, which requires completing the reconnaissance of a certain area within a certain period of time. This mission involves the collaboration of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), where the UAV is responsible for reconnaissance from the air and the UGV is responsible for ground tracking and auxiliary reconnaissance. The two need to coordinate speed to ensure efficient completion of the mission.

[0089] Task parameters:

[0090] ●Survey area (A UAV , A UGV ):

[0091] ■The area of ​​the drone’s assigned reconnaissance area A UAV =400km 2

[0092] ■Area A of the reconnaissance area assigned to the unmanned vehicle UGV =100km 2

[0093] ●Detection Radius (R UAV , R UGV ):

[0094] ■UAV detection radius R UAV =4km

[0095] ■Unmanned vehicle detection radius R UGV =3km

[0096] ●Task time (T task ):

[0097] ■Task completion time T task = 1 hour = 3600 seconds

[0098] ●Environmental parameters:

[0099] Wind speed W = 5m / s

[0100] ■Temperature T=25℃)

[0101] ■Terrain influence factor N = 0.3 (indicates moderately complex terrain)

[0102] Maximum speed:

[0103] ■Maximum speed limit for drones

[0104] ■Maximum speed limit for unmanned vehicles Calculation steps:

[0105] Step 1: Calculate the initial speed of the drone According to the formula:

[0106]

[0107] First, calculate the influence function f(W,T), assuming its form is:

[0108]

[0109] Among them, α 1 =0.02,α 2 =0.01.

[0110] Substitute the data and calculate:

[0111]

[0112] Next, calculate the initial velocity of the drone:

[0113]

[0114] Convert to km / h:

[0115]

[0116] ■The initial speed of the drone Less than , so

[0117] Step 2: Calculate the initial speed of the unmanned vehicle

[0118] According to the formula:

[0119]

[0120] Assume that the influence function f(W,T,N) is in the form of:

[0121]

[0122] Among them, β 1 =0.02, β 2 =0.01, β 3 =0.05.

[0123] Substitute the data and calculate:

[0124]

[0125] Next, calculate the initial speed of the unmanned vehicle:

[0126]

[0127] Convert to km / h:

[0128]

[0129] Initial speed of the driverless car Less than Therefore

[0130] Step 3: Calculate Cruise Speed ​​Adjustment

[0131] According to the real-time status feedback, the coordinated cruising speed of the UAV and the unmanned vehicle is adjusted. The adjustment formula is:

[0132]

[0133] ΔE in cruise speed adjustment UAV,UGV calculate:

[0134] Assume that the real-time changes of task progress are as follows:

[0135] ●Actual mission progress: The progress of drones and unmanned vehicles is 50%.

[0136] ●Expected task progress: The expected task progress is 60%.

[0137] Then ΔE uAV,UGV The calculation is:

[0138]

[0139] Therefore, the overall ΔE UAV,UGV for:

[0140] ΔE 1AV,UGV =ΔE UAV +ΔE UGV =-0.1667-0.1667=-0.3334

[0141] Substitute into the formula to make adjustments:

[0142]

[0143] Final result:

[0144] ●The coordinated cruising speed of the drone is 71.64km / h

[0145] ●The coordinated cruising speed of the unmanned vehicle is 23.59km / h

[0146] By adjusting the mission parameters, the speeds of the UAV and the unmanned vehicle that meet the actual application requirements are obtained. The speed of the UAV is adjusted to 71.64km / h; the speed of the unmanned vehicle is adjusted to 23.59km / h. At the same time, the adjustment of the cruising speed fully considers the changes in the real-time mission progress. By calculating ΔE UAV,UGV To dynamically adjust the coordinated cruising speed of drones and unmanned vehicles.

[0147] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the use. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the use methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

[0148] The present invention also provides a reconnaissance tool cruise speed collaborative control system based on air-ground collaboration, the system comprising:

[0149] Information collection module, used to obtain basic parameters of reconnaissance tasks and environment;

[0150] The initial speed calculation module is used to calculate the initial speed of drones and unmanned vehicles;

[0151] The cruising speed calculation module is used to calculate the cruising speed of drones and unmanned vehicles;

[0152] The collaborative speed calculation module is used to calculate the collaborative speed of drones and unmanned vehicles.

[0153] Furthermore, the basic parameters of the reconnaissance mission and environment include the reconnaissance area allocated to the UAV and the unmanned vehicle, the reconnaissance diameter of the UAV and the unmanned vehicle, the completion time of the reconnaissance mission, wind speed, temperature, and terrain influencing factors.

[0154] The technical solution of the above-mentioned reconnaissance tool cruise speed collaborative control system based on air-ground collaboration is similar to the technical solution of the aforementioned reconnaissance tool cruise speed collaborative control method, and will not be repeated here.

[0155] Based on the same technical solution, the present invention also provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, characterized in that when the instructions are executed by a computing device, the computing device executes the reconnaissance tool cruise speed collaborative control method as described above.

[0156] Based on the same technical solution, the present invention also provides an electronic system, comprising one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the above-mentioned reconnaissance tool cruise speed collaborative control method.

[0157] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0158] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0159] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0160] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

Claims

1. A coordinated control method for cruise speed of reconnaissance tools based on air-ground coordination, characterized in that: The reconnaissance tools include drones and unmanned vehicles; In the air-ground collaborative scenario, this collaborative control method dynamically adjusts the cruising speed of the UAV and the unmanned vehicle according to the reconnaissance mission and the real-time changes of the environment to ensure the collaborative work between the two: in, are the cruising speeds of drones and unmanned vehicles, are the initial speeds of the UAV and the unmanned vehicle, ΔE UAA,UGV is the real-time state change of the UAV and the unmanned vehicle, and δ is the feedback coefficient.

2. The method for coordinated control of cruise speed of reconnaissance tools based on air-ground coordination according to claim 1 is characterized in that: Initial speed of drones and unmanned vehicles The expressions are: in, are the calculated initial speeds of the UAV and the unmanned vehicle, These are the maximum speed limits for drones and driverless cars respectively.

3. The method for coordinated control of cruise speed of reconnaissance tools based on air-ground coordination according to claim 2 is characterized in that: Calculated value of the initial speed of the drone The expression is: Among them, A UAV The area of ​​the reconnaissance area allocated to the drone, D UAV is the detection diameter of the UAV, T task The time to complete the reconnaissance mission and the impact function of environmental factors W is wind speed, T is temperature, and α1 and α2 are the influence coefficients of wind speed and temperature on the speed of the UAV.

4. The method for coordinated control of cruise speed of reconnaissance tools based on air-ground coordination according to claim 2 is characterized in that: Calculation of the initial speed of the unmanned vehicle The expression is: Among them, A UGV The area of ​​the reconnaissance area allocated to the unmanned vehicle, D UGV is the detection diameter of the unmanned vehicle, T task The function of the reconnaissance mission completion time, taking into account the effects of wind speed, temperature and terrain W is wind speed, T is temperature, N is terrain influence factor, β1, β2, β3 are the influence coefficients of wind speed, temperature and terrain on the speed of the unmanned vehicle.

5. The method for coordinated control of cruise speed of reconnaissance tools based on air-ground coordination according to claim 1 is characterized in that: Real-time state change ΔE of drones and unmanned vehicles UAV,UGV The expression is: Among them, R UAV and R UGV They are the real-time reconnaissance progress of drones and unmanned vehicles, and are the estimated detection progress of the UAV and the unmanned vehicle, ΔW is the change in wind speed, ΔT is the change in temperature, and γ Q ,γ2 is the influence coefficient of wind speed and temperature changes on speed adjustment.

6. The cruise speed cooperative control system of the reconnaissance tool based on air-ground cooperation is characterized by: The system comprises: Information collection module, used to obtain basic parameters of reconnaissance tasks and environment; The initial speed calculation module is used to calculate the initial speed of drones and unmanned vehicles; The cruising speed calculation module is used to calculate the cruising speed of drones and unmanned vehicles; The collaborative speed calculation module is used to calculate the collaborative speed of drones and unmanned vehicles.

7. The cruise speed cooperative control system of the reconnaissance tool based on air-ground cooperation according to claim 6 is characterized in that: The basic parameters of the reconnaissance mission and environment include the reconnaissance area allocated to drones and unmanned vehicles, the reconnaissance diameter of drones and unmanned vehicles, the completion time of the reconnaissance mission, wind speed, temperature, and terrain influencing factors.

8. A computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, characterized in that: When the instructions are executed by a computing device, the computing device is caused to perform the method according to any one of claims 1 to 5.

9. An electronic device, characterized in that: The method comprises one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the method as claimed in any one of claims 1 to 5.

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