Unmanned equipment cooperative control system based on low earth orbit satellite communication

Abstract

The invention relates to the technical field of communication cooperative control, in particular to an unmanned equipment cooperative control system based on low-orbit satellite communication, which comprises a plurality of unmanned equipment, a low-orbit satellite communication network, a ground control center and a cloud task management platform, and is characterized in that the low-orbit satellite communication network is used for constructing a communication link covering the world; the unmanned equipment comprises a task execution module and a cooperative control module; the ground control center is used for carrying out overall planning and control on tasks of the unmanned equipment, sending task instructions to the unmanned equipment through the low-orbit satellite communication network, and receiving real-time state information of the unmanned equipment; and the cloud task management platform intelligently decomposes and optimizes task requirements based on a deep learning algorithm, and distributes task plans to the unmanned equipment through the ground control center. According to the invention, maximization of resource utilization efficiency and minimization of task completion time are realized.

Description

Technical Field

[0001] The present invention relates to the field of communication collaborative control technology, and in particular to an unmanned equipment collaborative control system based on low-orbit satellite communication. Background Art

[0002] With the widespread application of unmanned equipment (drones, unmanned ships, unmanned vehicles) in agriculture, logistics, disaster relief, resource exploration and other fields, their collaborative capabilities and real-time communication requirements when performing complex tasks are particularly important. However, the existing unmanned equipment collaborative control system still has the following technical bottlenecks in communication technology, task management and reliability:

[0003] Traditional ground communication networks have difficulty providing stable coverage and communication capabilities in vast areas, remote mountainous areas, oceans, deserts and other scenarios, resulting in limited mission execution of unmanned equipment in these areas. Although satellite communications have the advantage of wide coverage, traditional geosynchronous orbit satellite communications have problems such as high latency and expensive deployment costs, and are not suitable for unmanned equipment collaboration scenarios with high timeliness requirements.

[0004] Existing unmanned equipment collaborative systems usually rely on a single central control or preset task allocation strategy, and have poor adaptability to dynamic task environments. Especially when multiple devices collaborate to perform complex tasks, resource allocation efficiency is low and task priority management is unclear, resulting in low execution efficiency. Summary of the invention

[0005] The present invention provides an unmanned equipment cooperative control system based on low-orbit satellite communication.

[0006] The unmanned equipment collaborative control system based on low-orbit satellite communications includes multiple unmanned equipment, low-orbit satellite communication networks, ground control centers and cloud-based task management platforms, including:

[0007] The low-orbit satellite communication network is used to build a communication link covering the whole world, including multiple low-orbit satellites and satellite ground stations. The low-orbit satellites have inter-satellite links for transmitting data between low-orbit satellites to achieve low-latency and high-reliability communication;

[0008] The unmanned equipment includes a task execution module and a collaborative control module, wherein the task execution module is used to execute the assigned task, and the collaborative control module is used to receive instructions from the ground control center or the cloud task management platform and work in collaboration with other unmanned equipment;

[0009] The ground control center is used to carry out overall planning and control of the missions of the unmanned equipment, send mission instructions to the unmanned equipment through the low-orbit satellite communication network, and receive real-time status information of the unmanned equipment;

[0010] The cloud-based task management platform intelligently decomposes and optimizes task requirements based on deep learning algorithms, and distributes task plans to unmanned equipment through the ground control center.

[0011] Optionally, the low-orbit satellite communication network is composed of low-orbit satellites distributed in multiple orbital planes, each orbital plane contains a number of low-orbit satellites, and the orbits are distributed with preset inclination angles and orbital spacings to build a communication link covering the world;

[0012] The low-orbit satellites are interconnected through inter-satellite links, which support two-way communication, including horizontal links between satellites in adjacent orbits and vertical links across orbits, for realizing data transmission within and between orbits;

[0013] The satellite ground stations are distributed in the ground area and are used to receive data transmitted by low-orbit satellites and exchange data with the ground control center and the cloud mission management platform through the ground optical fiber network;

[0014] The low-orbit satellite adjusts its orbit and dynamically optimizes communication parameters through the instructions of the ground station, ensuring the stability and reliability of the communication link when the satellite moves or the coverage overlaps. To improve data transmission efficiency, the low-orbit satellite adopts packet communication technology to split the data into several data packets, transmit them in parallel through multiple inter-satellite links, and reorganize the data packets at the target node.

[0015] Optionally, the task execution module completes the task operation through the execution unit according to the task parameters assigned by the collaborative control module. The task execution module has a task status feedback function, which monitors and reports the task progress and equipment status in real time during the task execution process.

[0016] Optionally, the collaborative control module receives instructions from the ground control center or the cloud-based task management platform and parses them into specific tasks. The collaborative control module also supports a real-time task update mechanism. After receiving new instructions from the ground control center or the cloud-based task management platform, it adjusts the task parameters and synchronously shares the task change information to related unmanned equipment through the communication module.

[0017] Optionally, the ground control center specifically includes:

[0018] Mission planning and decomposition: Based on the pre-set mission objectives and environmental data, the ground control center combines the optimization results provided by the cloud-based mission management platform to make overall planning and decomposition of the mission and generate mission instructions that are suitable for the capabilities of each unmanned device;

[0019] Mission instruction issuance: The ground control center sends mission instructions to the unmanned equipment through the low-orbit satellite communication network. The mission instructions include mission objectives, execution parameters, priority information and time constraints;

[0020] Status information reception and processing: The ground control center receives status information uploaded by unmanned equipment in real time through the low-orbit satellite communication network, including mission progress, equipment operating parameters, and environmental monitoring data;

[0021] Dynamic adjustment mechanism: After receiving the status information of the unmanned equipment, the ground control center dynamically adjusts the mission plan according to the mission progress and equipment status, generates update instructions and sends them through the low-orbit satellite communication network.

[0022] Optionally, the cloud-based task management platform integrates multi-source data from multiple sources, including real-time status information of unmanned equipment, environmental monitoring data, and historical task execution data, cleans and standardizes the multi-source data, and generates initial conditions for task optimization;

[0023] Based on deep learning algorithms, the cloud-based task management platform analyzes the input task requirements, decomposes complex tasks into multiple subtasks, and assigns priorities and time constraints to each subtask;

[0024] Through the multi-objective optimization model, the task decomposition results are dynamically optimized. The optimization process comprehensively considers the task execution capability and current status of the unmanned equipment to achieve the shortest task completion time and maximize resource utilization;

[0025] The cloud-based task management platform dynamically adjusts unfinished tasks based on real-time status information feedback, and sends optimized task plans to unmanned equipment through the ground control center;

[0026] The generated mission plan is transmitted to the low-orbit satellite communication network in the form of standardized data packets through the ground control center, and then sent to the corresponding unmanned equipment by the satellite network.

[0027] Optionally, the cloud task management platform analyzes the input task requirements including:

[0028] The input task requirement is the target set: T = {T1, T2, ..., T j},T j =(o j ,q j ), where T is the task set, T j Represents a single task, o j represents the task objective description, q j is the task constraint;

[0029] Subtask generation, expressed as: T j →{t j1 ,t j2 ,...,t jk}, where t ji Represents task Tj The i-th subtask after decomposition;

[0030] Priority calculation: P(t ji )=w1·u1+w2·u2+w3·u3, where P(t ji ) is the subtask priority score, u1,u2,u3 are subtask related characteristics, including urgency, resource requirements, time sensitivity, w1,w2,w3 are weight coefficients.

[0031] Optionally, the dynamically optimizing the task decomposition results through the multi-objective optimization model specifically includes:

[0032] Unmanned equipment resource set: R = {r1, r2, ..., r n},r i =(c i ,p i ,e i ), where R is the resource set, r i is the resource status of a single device, c i is the current capability of the device, p i is the device location, used for path planning, e i is the energy status of the device (e.g., battery level);

[0033] Optimize the objective function: maximize the task completion rate and resource utilization while minimizing the time cost;

[0034] Distributed optimization: Each unmanned device performs part of the task, and completes the global task through distributed computing collaboration: in, is assigned to device r i The task, R(r i ) is the resource fitness function of the device.

[0035] Optionally, the optimization objective function is expressed as:

[0036] Among them, Z is the optimization target value, α, β, γ are weight coefficients, is the number of subtasks completed by the device, is the total number of tasks assigned to the device, is the resource usage, T completion is the total time to complete the task.

[0037] Beneficial effects of the present invention:

[0038] The present invention realizes real-time communication on a global scale through a low-orbit satellite communication network, solving the problem of insufficient coverage of traditional ground communication networks in remote areas, oceans, deserts and other environments. Low-orbit satellites use inter-satellite link technology, combined with a dynamic routing selection algorithm, to achieve efficient data transmission between satellites, reduce communication delays and improve communication reliability.

[0039] In the present invention, the cloud-based task management platform performs intelligent decomposition, priority sorting and dynamic optimization of task requirements based on big data analysis and artificial intelligence algorithms. Through a multi-objective optimization model, the platform comprehensively considers task urgency, equipment resource status and communication link conditions to generate an optimal task execution plan. The introduction of the optimization algorithm maximizes resource utilization efficiency and minimizes task completion time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 Schematic diagram of system composition of an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0043] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0044] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0045] like Figure 1 As shown in the figure, the unmanned equipment collaborative control system based on low-orbit satellite communication includes multiple unmanned equipment, a low-orbit satellite communication network, a ground control center and a cloud-based task management platform, among which:

[0046] The low-orbit satellite communication network is used to build communication links covering the entire world. It includes multiple low-orbit satellites and satellite ground stations. The low-orbit satellites have inter-satellite links for transmitting data between low-orbit satellites to achieve low-latency and high-reliability communications.

[0047] The unmanned equipment includes a task execution module and a collaborative control module, wherein the task execution module is used to execute the assigned tasks, and the collaborative control module is used to receive instructions from the ground control center or the cloud task management platform and work in coordination with other unmanned equipment;

[0048] The ground control center is used to carry out overall planning and control of the missions of the unmanned equipment, send mission instructions to the unmanned equipment through the low-orbit satellite communication network, and receive real-time status information of the unmanned equipment;

[0049] The cloud-based task management platform intelligently decomposes and optimizes task requirements based on deep learning algorithms, and distributes task plans to unmanned equipment through the ground control center.

[0050] The low-orbit satellite communication network consists of low-orbit satellites distributed in multiple orbital planes. Each orbital plane contains a number of low-orbit satellites, and the orbits are distributed at preset inclination angles and orbital spacing to build a communication link covering the world.

[0051] Low-orbit satellites are interconnected through inter-satellite links, which support two-way communication, including horizontal links between satellites in adjacent orbits and vertical links across orbits, which are used to realize data transmission within and between orbits;

[0052] Satellite ground stations are distributed on the ground to receive data transmitted by low-orbit satellites and exchange data with the ground control center and cloud-based mission management platform through the ground optical fiber network;

[0053] Low-orbit satellites adjust their orbits and dynamically optimize communication parameters through commands from ground stations, ensuring the stability and reliability of the communication link when the satellite moves or the coverage overlaps. To improve data transmission efficiency, low-orbit satellites use packet communication technology to split data into several data packets, transmit them in parallel through multiple inter-satellite links, and reorganize the data packets at the target node.

[0054] The task execution module completes the task operation through the execution unit according to the task parameters assigned by the collaborative control module. The task execution module has the task status feedback function, which monitors and reports the task progress and equipment status in real time during the task execution process.

[0055] The collaborative control module receives instructions from the ground control center or the cloud-based task management platform and parses them into specific tasks. The collaborative control module also supports a real-time task update mechanism. After receiving new instructions from the ground control center or the cloud-based task management platform, it adjusts the task parameters and synchronously shares the task change information to related unmanned equipment through the communication module.

[0056] The ground control center specifically includes:

[0057] Mission planning and decomposition: Based on the pre-set mission objectives and environmental data, the ground control center combines the optimization results provided by the cloud-based mission management platform to make overall planning and decomposition of the mission and generate mission instructions that are suitable for the capabilities of each unmanned device;

[0058] Mission instruction issuance: The ground control center sends mission instructions to unmanned equipment through the low-orbit satellite communication network. The mission instructions include mission objectives, execution parameters, priority information, and time constraints;

[0059] Status information reception and processing: The ground control center receives status information uploaded by unmanned equipment in real time through the low-orbit satellite communication network, including mission progress, equipment operating parameters, and environmental monitoring data. The status information is quickly processed through low-latency decoding and stored in the ground database for subsequent analysis;

[0060] Dynamic adjustment mechanism: After receiving the status information of the unmanned equipment, the ground control center dynamically adjusts the mission plan according to the mission progress and equipment status, generates update instructions and sends them through the low-orbit satellite communication network;

[0061] The ground control center adopts a task command receipt mechanism to ensure that the unmanned equipment can send confirmation information after receiving the command; if no receipt is received, the ground control center will automatically resend the command or adjust the transmission path through a backup satellite.

[0062] The cloud-based task management platform integrates multi-source data from multiple sources, including real-time status information of unmanned equipment, environmental monitoring data, and historical task execution data. It cleans and standardizes multi-source data to generate initial conditions for task optimization.

[0063] Based on deep learning algorithms, the cloud-based task management platform analyzes the input task requirements, decomposes complex tasks into multiple subtasks, and assigns priorities and time constraints to each subtask;

[0064] Through the multi-objective optimization model, the task decomposition results are dynamically optimized. The optimization process comprehensively considers the task execution capability and current status of the unmanned equipment to achieve the shortest task completion time and maximize resource utilization;

[0065] The cloud-based task management platform dynamically adjusts unfinished tasks based on real-time status information feedback, and sends optimized task plans to unmanned equipment through the ground control center;

[0066] The generated mission plan is transmitted to the low-orbit satellite communication network in the form of standardized data packets through the ground control center, and then sent to the corresponding unmanned equipment by the satellite network;

[0067] The cloud-based mission management platform continuously monitors the execution progress of the mission plan through interaction with the ground control center, and triggers the adjustment process when an abnormal situation is detected, re-decomposing the task and distributing the updated plan.

[0068] The cloud task management platform analyzes the input task requirements including:

[0069] The input task requirement is the target set: T = {T1, T2, ..., T j},T j =(o j ,q j ), where T is the task set, T j Represents a single task, o j represents the task objective description, q j is the task constraint;

[0070] Subtask generation, expressed as: T j →{t j1 ,t j2 ,...,t jk}, where t ji Represents task T j The i-th subtask after decomposition;

[0071] Priority calculation: P(t ji )=w1·u1+w2·u2+w3·u3, where P(t ji) is the subtask priority score, u1,u2,u3 are subtask related characteristics, including urgency, resource requirements, time sensitivity, w1,w2,w3 are weight coefficients.

[0072] Through the multi-objective optimization model, the task decomposition results are dynamically optimized, including:

[0073] Unmanned equipment resource set: R = {r1, r2, ..., r n},r i =(c i ,p i ,e i ), where R is the resource set, r i is the resource status of a single device, c i is the current capability of the device, p i is the device location, used for path planning, e i is the energy status of the device (e.g., battery level);

[0074] Optimize the objective function: maximize the task completion rate and resource utilization while minimizing the time cost;

[0075] Distributed optimization: Each unmanned device performs part of the task, and completes the global task through distributed computing collaboration: in, is assigned to device r i The task, R(r i ) is the resource fitness function of the device.

[0076] The optimization objective function is expressed as:

[0077] Among them, Z is the optimization target value, α, β, γ are weight coefficients, is the number of subtasks completed by the device, is the total number of tasks assigned to the device, is the resource usage, T completion is the total time to complete the task.

[0078] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0079] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. Unmanned equipment collaborative control system based on low-orbit satellite communication, characterized in that: It includes multiple unmanned equipment, low-orbit satellite communication network, ground control center and cloud mission management platform, including: The low-orbit satellite communication network is used to build a communication link covering the whole world, including a plurality of low-orbit satellites and satellite ground stations, wherein the low-orbit satellites have inter-satellite links for transmitting data between the low-orbit satellites; The unmanned equipment includes a task execution module and a collaborative control module, wherein the task execution module is used to execute the assigned task, and the collaborative control module is used to receive instructions from the ground control center or the cloud task management platform and work in collaboration with other unmanned equipment; The ground control center is used to carry out overall planning and control of the missions of the unmanned equipment, send mission instructions to the unmanned equipment through the low-orbit satellite communication network, and receive real-time status information of the unmanned equipment; The cloud-based task management platform intelligently decomposes and optimizes task requirements based on deep learning algorithms, and distributes task plans to unmanned equipment through the ground control center.

2. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 1 is characterized in that: The low-orbit satellite communication network is composed of low-orbit satellites distributed in multiple orbital planes, each orbital plane contains a number of low-orbit satellites, and the orbits are distributed at preset inclination angles and orbital spacings to build a communication link covering the world; The low-orbit satellites are interconnected through inter-satellite links, which support two-way communication, including horizontal links between satellites in adjacent orbits and vertical links across orbits, for realizing data transmission within and between orbits; The satellite ground stations are distributed in the ground area and are used to receive data transmitted by low-orbit satellites and exchange data with the ground control center and the cloud mission management platform through the ground optical fiber network.

3. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 1 is characterized in that: The task execution module completes the task operation through the execution unit according to the task parameters assigned by the collaborative control module. The task execution module has a task status feedback function and monitors and reports the task progress and equipment status in real time during the task execution process.

4. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 3 is characterized in that: The collaborative control module receives instructions from the ground control center or the cloud-based task management platform and parses them into specific tasks. The collaborative control module also supports a real-time task update mechanism. After receiving new instructions from the ground control center or the cloud-based task management platform, it adjusts the task parameters and synchronously shares the task change information to related unmanned equipment through the communication module.

5. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 1 is characterized in that: The ground control center specifically includes: Mission planning and decomposition: Based on the pre-set mission objectives and environmental data, the ground control center combines the optimization results provided by the cloud-based mission management platform to make overall planning and decomposition of the mission and generate mission instructions that are suitable for the capabilities of each unmanned device; Mission instruction issuance: The ground control center sends mission instructions to the unmanned equipment through the low-orbit satellite communication network. The mission instructions include mission objectives, execution parameters, priority information and time constraints; Status information reception and processing: The ground control center receives status information uploaded by unmanned equipment in real time through the low-orbit satellite communication network, including mission progress, equipment operating parameters, and environmental monitoring data; Dynamic adjustment mechanism: After receiving the status information of the unmanned equipment, the ground control center dynamically adjusts the mission plan according to the mission progress and equipment status, generates update instructions and sends them through the low-orbit satellite communication network.

6. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 1, characterized in that: The cloud-based task management platform integrates multi-source data from multiple sources, including real-time status information of unmanned equipment, environmental monitoring data, and historical task execution data, cleans and standardizes the multi-source data, and generates initial conditions for task optimization; Based on deep learning algorithms, the cloud-based task management platform analyzes the input task requirements, decomposes complex tasks into multiple subtasks, and assigns priorities and time constraints to each subtask; Through the multi-objective optimization model, the task decomposition results are dynamically optimized. The optimization process comprehensively considers the task execution capability and current status of the unmanned equipment to achieve the shortest task completion time and maximize resource utilization; The cloud-based task management platform dynamically adjusts unfinished tasks based on real-time status information feedback, and sends optimized task plans to unmanned equipment through the ground control center; The generated mission plan is transmitted to the low-orbit satellite communication network in the form of standardized data packets through the ground control center, and then sent to the corresponding unmanned equipment by the satellite network.

7. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 6 is characterized in that: The cloud-based task management platform analyzes the input task requirements including: The input task requirement is the target set: T = {T1, T2, ..., T h },T j =(o j ,q j ), where T is the task set, T j Represents a single task, o j represents the task objective description, q j is the task constraint; Subtask generation, expressed as: T j →{t j1 ,t j2 ,...,t jk }, where t ji Represents task T j The i-th subtask after decomposition; Priority calculation: P(t ji )=w1·u1+w2·u2+w3·u3, where P(t ji ) is the subtask priority score, u1,u2,u3 are subtask related characteristics, including urgency, resource requirements, time sensitivity, w1,w2,w3 are weight coefficients.

8. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 7 is characterized in that: The dynamic optimization of the task decomposition results by the multi-objective optimization model specifically includes: Unmanned equipment resource set: R = {r1, r2, ..., r n },r i =(c i ,p i ,e i ), where R is the resource set, r i is the resource status of a single device, c i is the current capability of the device, p i is the device location, used for path planning, e i is the device energy status; Optimize the objective function: maximize the task completion rate and resource utilization while minimizing the time cost; Distributed optimization: Each unmanned device performs part of the task, and completes the global task through distributed computing collaboration: in, is assigned to device r i The task, R(r i ) is the resource fitness function of the device.

9. The unmanned equipment collaborative control system based on low-orbit satellite communication according to claim 8, characterized in that: The optimization objective function is expressed as: Among them, Z is the optimization target value, α, β, γ are weight coefficients, is the number of subtasks completed by the device, is the total number of tasks assigned to the device, is the resource usage, T completion is the total time to complete the task.

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