Laser-induced group control system and method

Abstract

The invention discloses a laser-induced group control system and method, and the system comprises a task binding module and an induction beacon module which are carried on an unmanned plane in an unmanned plane cluster, and the induction beacon module can be delivered to a target position by the unmanned plane; in the task planning stage, the induction beacon module is delivered through the unmanned aerial vehicle, and after the induction beacon module is landed in a parachute mode, automatic leveling and positioning time service are carried out; the unmanned aerial vehicle receives the time service information transmitted by the induction beacon module through the task binding module for time synchronization, and the induction beacon module resolves the unmanned aerial vehicle position information and binds the unmanned aerial vehicle with light irradiation; the task binding module is also used for receiving task planning information sent by the unmanned cluster remote control station through a ground measurement and control data link, and sending task parameters to the induction beacon module by using the laser communication unit; and the induction beacon module decomposes the task parameters into a resident communication information queue, polls and broadcasts the resident communication information queue through the optical communication unit, and transmits the resident communication information queue to other unmanned aerial vehicles of the unmanned aerial vehicle cluster.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned equipment cluster control, and particularly relates to a laser-induced swarm control system and method. Background Art

[0002] Traditional unmanned equipment control technologies generally adopt a control strategy based on data link + human-in-the-loop. When implementing swarm control, it is also required that each unit in the swarm accesses the communication network, and each individual unit requires functions such as positioning and timing. Equipping each unmanned equipment with a positioning device, a timing device, and a communication device greatly increases the cost of unmanned equipment, which is not conducive to the low-cost development trend of unmanned equipment swarms. Moreover, in the specific control process, the action control method based on data driving is not conducive to the agility requirements during the task execution of large-scale swarms. Summary of the Invention

[0003] The object of the present invention is to provide a laser-induced swarm control system and method, which can have high-precision time and positioning accuracy during the process of an unmanned equipment swarm executing tasks in a target area and can implement swarm cooperative operations driven by tasks.

[0004] To achieve the above tasks, the present invention adopts the following technical solutions:

[0005] A laser-induced swarm control system, comprising:

[0006] A mission binding module and an induction beacon module carried on the unmanned aircraft in the unmanned aircraft swarm, wherein the induction beacon module can be delivered to the target position by the unmanned aircraft;

[0007] During the mission planning stage, the induction beacon module is delivered by the unmanned aircraft. After the induction beacon module parachutes to the ground, it automatically levels and positions and times. The unmanned aircraft synchronizes time by receiving the timing information transmitted by the induction beacon module through the mission binding module, and the position information of the unmanned aircraft calculated by the induction beacon module is irradiated and bound to the unmanned aircraft by light;

[0008] The mission binding module is further used to receive the mission planning information sent by the remote control station of the unmanned swarm through the ground measurement and control data link, parse the mission planning information, and send the mission parameters to the induction beacon module by using the laser communication unit; the induction beacon module decomposes the mission parameters to form a dwell communication information queue, and polls and broadcasts it through the optical communication unit to other unmanned aircraft in the unmanned aircraft swarm.

[0009] Further, the task binding module includes a ground-air measurement and control data link and a laser communication unit. Among them, the ground-air measurement and control data link realizes the function of receiving the task planning information sent by the unmanned cluster remote control station, and the laser communication unit is used to send the parsed task parameters to the induction beacon module through laser irradiation, and cooperate with the laser array unit in the induction beacon module to realize position binding.

[0010] Further, the induction beacon module includes a satellite positioning unit, an inertial measurement unit, a laser array unit, an optical communication unit, a self-balancing bearing unit, a parachute drop unit, and an information processing unit, where:

[0011] The satellite positioning unit realizes the satellite positioning function of the induction beacon module; the inertial measurement unit is used to obtain the attitude of the induction beacon module through inertial measurement; the laser array unit is used to emit a laser beam for the unmanned aerial vehicle, so as to measure the azimuth and position of the unmanned aerial vehicle; the optical communication unit is used to realize optical communication with the unmanned aerial vehicle, send timing, positioning information, etc. to the unmanned aerial vehicle, and receive information such as task parameters sent by the unmanned aerial vehicle to the induction beacon module; the self-balancing bearing unit combines the attitude information to realize the automatic leveling and terrain adaptability functions of the induction beacon module; the parachute drop unit is used to buffer the landing of the induction beacon module through parachute drop after the induction beacon module is dropped by the unmanned aerial vehicle; the information processing unit is connected to the satellite positioning unit, the inertial measurement unit, the laser array unit, the optical communication unit, the self-balancing bearing unit, the parachute drop unit, and the power supply component to realize the comprehensive information processing function.

[0012] Further, the information processing unit specifically realizes: controlling the laser array unit to emit a laser beam, the optical communication between the optical communication unit and the unmanned aerial vehicle, obtaining satellite positioning information, attitude information, automatic leveling and terrain adaptability, task parameter decomposition, and controlling the parachute drop process.

[0013] A laser-induced group control method includes:

[0014] Step 1, the induction beacon module is delivered by an unmanned aerial vehicle. After the induction beacon module lands by parachute using the parachute drop unit, it is automatically leveled by the self-balancing bearing unit in combination with the inertial measurement unit, and time is set based on the satellite positioning unit.

[0015] Step 2, the induction beacon module sends time information through the optical communication unit, and the unmanned aerial vehicle receives the time information through the optoelectronic sensor and synchronizes it.

[0016] Step 3: The induction beacon module sends the coordinate origin information through the optical communication unit, and the UAV receives the coordinate origin information through the photoelectric sensor; the induction beacon module measures the direction and position of the UAV through the laser array unit, and after solving it with the information processing unit, illuminates the laser communication unit of the UAV through the laser array unit and starts position binding, and sends the bound position information to the unmanned equipment through the optical communication unit;

[0017] Step 4: The unmanned swarm remote control station generates the mission planning information of the unmanned swarm and sends it to the mission binding module through the ground-to-air measurement and control data link;

[0018] Step 5, the task binding module sends the task parameters after parsing the task planning information to the guidance beacon module through the laser communication unit;

[0019] Step 6: The information processing unit in the induction beacon module decomposes the mission parameters into a resident communication information queue, which is broadcast to other drones in the cluster through the optical communication unit polling.

[0020] Furthermore, under satellite denial conditions, the relative coordinate system positioning method is selected and the current position is set as the coordinate origin, and the time adopts the local time.

[0021] A computer-readable storage medium stores a computer program in a centralized manner; when the computer program is executed by a processor, the laser-induced group control method is implemented.

[0022] A drone cluster, wherein the drones in the drone cluster are equipped with a task binding module and a droppable induction beacon module.

[0023] Compared with the prior art, the present invention has the following technical features:

[0024] 1. The present invention takes into account the human-in-the-loop manual intervention during the action of the unmanned equipment cluster through the task binding module; at the same time, through the information retention mechanism of the induction beacon module, it ensures the asynchronous reception of the unmanned equipment cluster tasks and the synchronous implementation of the actions, thereby improving the accuracy of coordination.

[0025] 2. The present invention realizes unified spatiotemporal alignment of unmanned clusters through the induction beacon module, avoiding the need for each unit of the unmanned equipment cluster to be equipped with a positioning device, a timing device, and a communication device, thereby reducing the cost of a single cluster installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a diagram of the laser induced group system architecture in the solution of the present invention;

[0027] Figure 2 It is a flow chart of laser-induced group control in the scheme of the present invention. DETAILED DESCRIPTION

[0028] The present invention provides a laser-induced swarm control method, which proposes a new spatio-temporal registration and action control scheme for unmanned equipment clusters, applicable to precise action control for specific tasks in the process of manned-unmanned cooperation of unmanned clusters, and can improve the spatio-temporal accuracy and cooperation efficiency of each individual in the unmanned cluster within the target area. Based on the traditional unmanned equipment control technology, the present invention invents an induced beacon technology, which serves as a positioning and timing source system shared by the unmanned equipment cluster within a certain target range, reduces the direct cost of a single unmanned equipment, and realizes a reliable task information asynchronous binding mechanism for the dispersed, three-dimensional, and multi-directional unmanned equipment cluster through the task information residence control process, and realizes an action control method for the unmanned equipment cluster based on task driving.

[0029] The present invention first provides a laser-induced swarm control system, including:

[0030] A task binding module and an induced beacon module carried on the unmanned aerial vehicles in the unmanned aerial vehicle cluster, wherein the induced beacon module can be delivered to the target position by the unmanned aerial vehicle;

[0031] In the task planning stage, the induced beacon module is delivered by the unmanned aerial vehicle. After the induced beacon module parachutes to the ground, it automatically levels and positions and times; the unmanned aerial vehicle synchronizes time by receiving the timing information transmitted by the induced beacon module through the task binding module, and the position information of the unmanned aerial vehicle calculated by the induced beacon module is irradiated and bound to the unmanned aerial vehicle by light.

[0032] The task binding module is further used to receive the task planning information sent by the remote control station of the unmanned cluster through the ground measurement and control data link, parse the task planning information, and send the task parameters to the induced beacon module by using the laser communication unit; the induced beacon module decomposes the task parameters to form a residence communication information queue, and polls and broadcasts through the optical communication unit to send to other unmanned aerial vehicles in the unmanned aerial vehicle cluster.

[0033] See Appendix Figure 1 , in an embodiment of the present invention:

[0034] The task binding module is an airborne task parameter receiving and transmitting functional module, including a ground-air measurement and control data link and a laser communication unit; wherein, the ground-air measurement and control data link realizes the receiving function of the task planning information sent by the remote control station of the unmanned cluster, and the laser communication unit is used to send the parsed task parameters to the induced beacon module by laser irradiation, and cooperate with the laser array unit in the induced beacon module to realize position binding.

[0035] The induced beacon module is a spatio-temporal registration and coded task information transmission module for the unmanned aerial vehicle cluster, including a satellite positioning unit, an inertial measurement unit, a laser array unit, an optical communication unit, a self-balancing bearing unit, a parachute unit, a power supply component, and an information processing unit, wherein:

[0036] The satellite positioning unit realizes the satellite positioning function of the induction beacon module; the inertial measurement unit is used to obtain the attitude of the induction beacon module through inertial measurement; the laser array unit is used to emit laser beams to the UAV to measure the azimuth and position of the UAV; the optical communication unit is used to realize optical communication with the UAV, send timing, positioning information, etc. to the UAV, and receive information such as task parameters sent by the UAV to the induction beacon module; the self-balancing bearing unit combines the attitude information to realize the automatic leveling and terrain adaptability functions of the induction beacon module; the parachute unit is used to buffer the landing of the induction beacon module through parachuting after the induction beacon module is dropped by the UAV; the power supply unit realizes the power supply of the induction beacon module; the information processing unit is connected to the satellite positioning unit, inertial measurement unit, laser array unit, optical communication unit, self-balancing bearing unit, parachute unit, and power supply component to realize comprehensive information processing functions, including controlling the laser array unit to emit laser beams, optical communication between the optical communication unit and the UAV, obtaining satellite positioning information, attitude information, automatic leveling and terrain adaptability, task parameter decomposition, controlling the parachute process, etc.

[0037] Based on the above technical solutions, the present invention further provides a laser-induced swarm control method, including: beacon delivery, time registration, positioning registration, task parameter upload, task parameter binding, and task parameter notification;

[0038] Step 1, for the beacon delivery, the induction beacon module is delivered by the UAV. After the induction beacon module lands by parachuting using the parachute unit, it is automatically leveled by the self-balancing bearing unit in combination with the inertial measurement unit, and is positioned and timed based on the satellite positioning unit; under satellite denial conditions, the relative coordinate system positioning method is selected and the current position is set as the coordinate origin, and the local time is used.

[0039] Step 2, for the time registration, the induction beacon module sends time information through the optical communication unit, and the UAV receives the time information through the optoelectronic sensor and synchronizes.

[0040] Step 3, for the positioning registration, the induction beacon module sends the coordinate origin information through the optical communication unit, and the UAV receives the coordinate origin information through the optoelectronic sensor; the induction beacon module measures the direction and position of the UAV through the laser array unit, and after being solved by the information processing unit, it irradiates the laser communication unit of the UAV through the laser array unit and starts position binding, and sends the bound position information to the unmanned equipment through the optical communication unit.

[0041] Step 4, for the task parameter upload, the unmanned cluster remote control station generates the task planning information of the UAV cluster and sends it to the task binding module through the ground-air measurement and control data link.

[0042] Step 5, for the task parameter binding, the task binding module sends the task parameters after parsing the task planning information to the induction beacon module through the laser communication unit;

[0043] Step 6, for the task parameter notification, the information processing unit in the induction beacon module decomposes the task parameters to form a dwell communication information queue, and polls and broadcasts it to other UAVs in the cluster through the optical communication unit.

[0044] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A laser-induced population control system, characterized in that, Comprising: A mission binding module and an induction beacon module carried on an unmanned aircraft in a cluster of unmanned aircraft, wherein the induction beacon module can be delivered by the unmanned aircraft to a target position; In the mission planning stage, the induction beacon module is delivered by the unmanned aircraft. After the induction beacon module parachutes to the ground, it automatically levels and positions for time synchronization. The unmanned aircraft receives the time synchronization information transmitted by the induction beacon module through the mission binding module, and the position information of the unmanned aircraft calculated by the induction beacon module is illuminated and bound to the unmanned aircraft by light; The mission binding module is further configured to receive mission planning information sent by a remote control station of the unmanned cluster through a ground measurement and control data link, parse the mission planning information, and use a laser communication unit to send mission parameters to the induction beacon module; the induction beacon module decomposes the mission parameters to form a dwell communication information queue, and polls and broadcasts through an optical communication unit to send to other unmanned aircraft in the unmanned aircraft cluster.

2. The laser-induced population control system according to claim 1, wherein The mission binding module includes a ground-air measurement and control data link and a laser communication unit; wherein, the ground-air measurement and control data link realizes the function of receiving mission planning information sent by a remote control station of the unmanned cluster, and the laser communication unit is used to send the parsed mission parameters to the induction beacon module by laser irradiation, and cooperate with the laser array unit in the induction beacon module to realize position binding.

3. The laser-induced population control system according to claim 1, wherein The induction beacon module includes a satellite positioning unit, an inertial measurement unit, a laser array unit, an optical communication unit, a self-balancing bearing unit, a parachute unit, and an information processing unit, wherein: The satellite positioning unit realizes the satellite positioning function of the induction beacon module; the inertial measurement unit is used to obtain the attitude of the induction beacon module through inertial measurement; the laser array unit is used to emit a laser beam for the unmanned aircraft, so as to measure the azimuth and position of the unmanned aircraft; the optical communication unit is used to realize optical communication with the unmanned aircraft, send time synchronization, positioning information, etc. to the unmanned aircraft, and receive information such as mission parameters sent by the unmanned aircraft to the induction beacon module; the self-balancing bearing unit combines attitude information to realize the automatic leveling and terrain adaptability function of the induction beacon module; the parachute unit is used to buffer the landing of the induction beacon module through parachuting after the induction beacon module is dropped by the unmanned aircraft; the information processing unit is connected to the satellite positioning unit, the inertial measurement unit, the laser array unit, the optical communication unit, the self-balancing bearing unit, the parachute unit, and the power supply component to realize the function of comprehensive information processing.

4. The laser-induced population control system according to claim 3, characterized in that, The information processing unit specifically realizes: controlling the laser array unit to emit a laser beam, the optical communication between the optical communication unit and the unmanned aircraft, obtaining satellite positioning information, attitude information, automatic leveling and terrain adaptability, mission parameter decomposition, and controlling the parachuting process.

5. A laser-induced population control method, characterized in that, Comprising: Step 1, delivering the induction beacon module by the unmanned aircraft. After the induction beacon module parachutes to the ground by using the parachute unit, it automatically levels through the self-balancing bearing unit in combination with the inertial measurement unit, and positions and synchronizes time based on the satellite positioning unit; Step 2, the induction beacon module sends time information through the optical communication unit, and the unmanned aircraft receives the time information through an optoelectronic sensor and synchronizes. Step 3: The beacon induction module sends the coordinate origin information through the optical communication unit, and the UAV receives the coordinate origin information through the optoelectronic sensor. The beacon induction module measures the direction and position of the UAV through the laser array unit. After being solved by the information processing unit, it irradiates the laser communication unit of the UAV through the laser array unit and starts position binding, and sends the bound position information to the unmanned equipment through the optical communication unit. Step 4: The unmanned cluster remote control station generates the mission planning information of the UAV cluster and sends it to the mission binding module through the ground-air measurement and control data link. Step 5: The mission binding module sends the mission parameters after parsing the mission planning information to the beacon induction module through the laser communication unit. Step 6: The information processing unit in the beacon induction module decomposes the mission parameters to form a dwell communication information queue, and polls and broadcasts it to other UAVs in the cluster through the optical communication unit.

6. The laser-induced population control method according to claim 5, characterized in that Under the condition of satellite denial, select the relative coordinate system positioning method and set the current position as the coordinate origin, and the time uses local time.

7. A computer-readable storage medium, in which a computer program is centrally stored; characterized in that, When the computer program is executed by the processor, it implements the laser-induced swarm control method according to claim 5.

8. A drone swarm, characterized in that, The UAVs in the UAV cluster are equipped with the mission binding module and the deployable beacon induction module according to any one of claims 1-4.

Images