Unmanned aerial vehicle control system and control method, electronic equipment and storage medium

Abstract

The invention provides an unmanned aerial vehicle control system and control method, electronic equipment and a storage medium, and relates to the technical field of unmanned aerial vehicle control and load mounting. The unmanned aerial vehicle control system comprises a photoelectric assembly used for acquiring information of a target object, locking the target object and performing laser irradiation; the flight control computer is used for collecting flight parameter information of the unmanned aerial vehicle and controlling flight of the unmanned aerial vehicle; the N mounting points are used for mounting loads and analyzing and processing communication protocols of the mounted loads; and the control computer is used for carrying out load control solution according to the information of the target object transmitted by the photoelectric assembly, the flight parameter information transmitted by the flight control computer, the communication protocol transmitted by the N hanging points and a control instruction sent by the ground station so as to control at least one hanging point to release the load and control the photoelectric assembly to carry out laser irradiation on the target object. According to the invention, simultaneous mounting, parallel calculation, flexible switching and accurate release of multiple types of loads can be realized, and the task execution efficiency of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control and payload mounting technology, and more specifically, to a UAV control system and control method, electronic equipment and storage medium. Background Technology

[0002] With the widespread application of drones in various mission domains, fixed-wing drones, as a commonly used platform, directly determine mission effectiveness through their payload carrying and control capabilities. Currently, the control systems of mainstream fixed-wing drones suffer from the following key technical deficiencies: Limited payload capacity: Existing UAVs can typically only carry a single type of payload, making it impossible to flexibly select the type of payload based on the target type.

[0003] Incompatible hardware interfaces: The size, weight, and hardware characteristics of different load models vary significantly, resulting in inconsistent connection structures and power supply interfaces between the mount and the load. For example, some loads require 12V DC power, while others require 28V power. Communication interface types include RS232, CAN bus, etc., requiring customized mounts and connection solutions for each load model, leading to extremely poor compatibility.

[0004] Software protocols and communication mechanisms are incompatible: There is no unified standard for communication protocols (such as data frame formats and command encoding rules) and communication mechanisms (such as polling and interrupt triggering) among different payload manufacturers. Existing control systems need to be adapted to single payload protocols through software "patches". If new payload types are added, the core code of the control computer needs to be modified, which not only increases software complexity and potential risks, but also requires retesting the system, resulting in long development cycles and high costs.

[0005] The control algorithm and release process are isolated: There are fundamental differences in the control calculation algorithms (such as proportional guidance and three-point method) and release conditions (such as the speed range of the carrier aircraft and the target off-axis angle threshold) for different loads. The existing control system only integrates the calculation module and release logic of a single load, which cannot realize the parallel calculation and flexible switching of multiple loads. When multiple attachment points are mounted, it can only be released one by one, resulting in low task efficiency. Summary of the Invention

[0006] To address at least one of the aforementioned problems, this application proposes a UAV control system and control method, electronic equipment, and storage medium, particularly suitable for fixed-wing UAVs, which can simultaneously mount multiple payloads, perform parallel calculations, flexibly switch between them, and precisely release them, thereby improving the efficiency of UAV mission execution.

[0007] According to a first aspect of this application, at least one embodiment of this application provides a drone control system, comprising: an optoelectronic component for acquiring information about a target object, locking onto the target object, and irradiating it with a laser; a flight control computer for collecting flight parameter information of the drone and controlling the drone's flight, the flight parameter information including inertial navigation information, velocity information, and / or flight attitude information; N attachment points for mounting payloads and parsing and processing the communication protocol of the mounted payloads, wherein N is an integer greater than or equal to 1; and a control computer connected to the optoelectronic component, the flight control computer, the N attachment points, and a ground station, for communicating with the optoelectronic component, the flight control computer, the N attachment points, and the ground station, and performing payload control calculations based on the target object information transmitted by the optoelectronic component, the flight parameter information transmitted by the flight control computer, the communication protocol transmitted by the N attachment points, and the control commands sent by the ground station, outputting a first control signal to at least one of the N attachment points to control the at least one attachment point to release the payload, and outputting a second control signal to the optoelectronic component to control the optoelectronic component to irradiate the target object with a laser.

[0008] For example, in some embodiments of this application, it further includes: a power distribution motor, which is connected to the optoelectronic component, the flight control computer, the N attachment points and the control computer respectively, for providing power supply support to the optoelectronic component, the flight control computer, the N attachment points and the control computer.

[0009] For example, in some embodiments of this application, each of the N attachment points includes: a mounting bracket for mounting the load; and a control unit connected to the mounting bracket and the control computer, for supplying power to the mounting bracket and the load, performing thermal battery activation on the load, and interacting with the mounting bracket to obtain and parse the communication protocol of the load mounted on the mounting bracket, sending the parsed data to the control computer, and controlling the mounting bracket to perform unhooking and / or unplugging operations to mount or release the load.

[0010] For example, in some embodiments of this application, the control unit includes: a protocol processing component for parsing and processing the communication protocol of the load mounted on the rack, and organizing the parsed data into a format conforming to a preset standardized protocol, and sending it to the control computer; a power supply channel for transmitting DC power to supply power to the rack and the load mounted on the rack; a battery activation channel for transmitting a load thermal battery activation control signal to activate the thermal battery of the load; a disconnection signal output channel for transmitting a rack disconnection control signal to control the rack to perform a disconnection operation with the load; a disconnection signal output channel for transmitting a rack disconnection control signal to control the rack to perform a disconnection operation with the load; a rack communication channel for enabling communication between the control unit and the rack, and transmitting the communication protocol of the load mounted on the rack through the rack, and sending the communication protocol to the protocol processing component; and a control communication channel for enabling communication between the control unit and the control computer, and transmitting the standardized protocol organized by the protocol processing component to the control computer.

[0011] According to a second aspect of this application, at least one embodiment of this application provides a control method for an unmanned aerial vehicle (UAV) control system, executed by a control computer of the UAV control system as described in any one of the first aspects. The control method includes: acquiring information about a target object collected by the optoelectronic component; acquiring flight parameter information of the UAV collected by the flight control computer; acquiring communication protocols of the mounted payloads transmitted by N mounting points; performing payload control calculations based on the target object information, the flight parameter information, and the N communication protocols to determine a first condition signal; receiving a control command sent by the ground station; parsing the control command to determine a second condition signal; and outputting a first control signal to at least one of the N mounting points based on the first condition signal and the second condition signal to control the at least one mounting point to release the payload.

[0012] For example, in some embodiments of this application, parsing the control command and determining the second condition signal includes: determining the type of the control command; if the control command is a release command, determining the load type specified in the control command; and determining the second condition signal based on the load type specified in the control command, wherein the second condition signal includes the load type to be released by the ground station.

[0013] For example, in some embodiments of this application, the step of outputting a first control signal to at least one of the N attachment points according to the first condition signal and the second condition signal to control the at least one attachment point to release the load includes: obtaining the control calculation result of the corresponding load type in the first condition signal according to the second condition signal, and determining whether the corresponding load meets the release condition; if the load meets the release condition, sending a first control signal to the generator control unit of the corresponding attachment point to control the generator control unit to output a load thermal battery activation control signal, perform a load thermal battery activation operation, and control the generator control unit to output a bracket insertion / removal control signal and a bracket disengagement control signal, so that the bracket performs an insertion / removal operation and a disengagement operation with the load.

[0014] For example, in some embodiments of this application, it further includes: when the load of at least one of the N hanging points is released, outputting a second control signal to the photoelectric component to control the photoelectric component to perform laser irradiation on the target object.

[0015] According to a third aspect of this application, at least one embodiment of this application provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to perform the method as described in any one of the second aspects.

[0016] According to a fourth aspect of this application, at least one embodiment of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described in any one of the second aspects.

[0017] Through the above exemplary embodiments, compared with the technical limitations of existing fixed-wing UAV control systems that can only adapt to a single type of payload, have difficulty in compatibility with multiple payloads, and have high expansion costs, the UAV control system and control method, electronic equipment and storage medium provided in this application have at least one of the following beneficial effects: Significantly improved multi-payload compatibility: This application achieves compatible mounting of payloads of different sizes, weights, and protocols with UAVs through the design of hardware interface standardization and control unit protocol conversion, which solves the limitation of existing control systems that can only adapt to a single payload, and allows for flexible selection of payload type according to target type.

[0018] The system has strong scalability: When adding new payload types, this application does not require modification of the core software of the control computer or the main structure of the UAV. It only needs to ensure that the interface between the new payload and the mount meets the DC power supply and communication standards, and adapt the protocol through the control unit, which shortens the development cycle and reduces the R&D cost.

[0019] High operational response efficiency: This application is based on the multi-threaded design of the uC / OS-Ⅱ operating system, which can realize parallel control and calculation of multiple types of payloads; payload switching only requires adjusting the attachment point selection command, without restarting the system or reloading the algorithm, and the switching response time can be shortened to the millisecond level to meet the requirements of rapid strike.

[0020] Enhanced software robustness: This application decentralizes the payload protocol parsing function to the control unit, requiring the control computer to only process the standard protocol, thus reducing software complexity and minimizing the risk of software vulnerabilities; multi-threaded computation and modular design also improve the stability and maintainability of the software.

[0021] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0022] The above and other objects, features, and advantages of this application will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings. The drawings described below are merely some embodiments of this application and are not intended to limit the scope of this application.

[0023] Figure 1 A schematic diagram of an exemplary unmanned aerial vehicle (UAV) control system is shown. Figure 2 A schematic diagram of a control unit of an exemplary embodiment is shown; Figure 3 A flowchart illustrating a control method for an unmanned aerial vehicle (UAV) control system of an exemplary embodiment is shown. Figure 4 This diagram illustrates the structure of an electronic device provided in this application. Detailed Implementation

[0024] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0025] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0026] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0027] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0028] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing this application, and therefore cannot be used to limit the scope of protection of this application.

[0029] Figure 1 A schematic diagram of an exemplary unmanned aerial vehicle (UAV) control system is shown.

[0030] like Figure 1 As shown, the UAV control system includes: a control computer 101, an optoelectronic component 102, a flight control computer 103, and N attachment points 104, where N is an integer greater than or equal to 1.

[0031] According to the example embodiment, the photoelectric component 102 serves as a load device, used to acquire information about a target object, and also to lock onto the target object and irradiate it with laser light. The information about the target object includes a target image.

[0032] For example, the photoelectric component 102 is connected to the control computer 101 via an RS422 communication interface to collect target images and latitude, longitude, and altitude information, transmit them to the control computer 101, and receive instructions from the control computer 101 to lock onto the target and perform laser irradiation.

[0033] In the control system, the flight control computer 103 is used to collect flight parameter information of the UAV and to control its flight. The flight control computer 103 itself is the core unit for UAV flight control, control law calculation, and sensor and actuator processing. The flight parameter information includes inertial navigation information, speed information, and flight attitude information.

[0034] For example, the flight control computer 103 is connected to the control computer 101 via an RS422 communication interface. The flight control computer 103 collects the UAV's inertial navigation information (position, attitude angles), speed information, and flight attitude information, and transmits it to the control computer 101, enabling the control computer 101 to perform control calculations. At the same time, the flight control computer 103 receives attack route commands sent by the control computer 101 and controls the UAV to adjust its flight trajectory.

[0035] The control computer 101, as the core control unit of the entire control system, is connected to the optoelectronic component 102, the flight control computer 103, the N attachment points 104, and the ground station. It communicates with these components and performs load control calculations based on the target object information transmitted by the optoelectronic component 102, the flight parameter information transmitted by the flight control computer 103, the communication protocols transmitted by the N attachment points 104, and the control commands sent by the ground station. It then outputs a first control signal to at least one of the N attachment points 104 to control the release of the load from that attachment point. Additionally, the control computer 101 outputs a second control signal to the optoelectronic component 102 to control it to irradiate the target object with laser light.

[0036] As a component for transmitting remote control commands and analyzing and displaying telemetry information, the ground station enables human-machine interaction between the control system and the user.

[0037] According to some embodiments, the control computer 101 is connected to the optoelectronic component 102, the flight control computer 103, the ground station, and N launch control units 104 via an RS422 communication interface.

[0038] The first control signal includes load release decision, off-axis angle, and load flight time. The second control signal includes laser irradiation delay time, so that the optoelectronic component 102 can perform laser irradiation and laser deactivation operations.

[0039] According to an example embodiment, the drone control system also includes a motor 105.

[0040] The power supply motor 105 is connected to the optoelectronic component 102, the flight control computer 103, the N attachment points 104 and the control computer 101 respectively, and is used to provide power supply support for the optoelectronic component 102, the flight control computer 103, the N attachment points 104 and the control computer 101.

[0041] According to some embodiments, the motor 105 is provided with a 28V DC power supply.

[0042] Each of the N mounting points includes a generator control unit, a mounting bracket, and a load. The generator control unit, mounting bracket, and load together form a mounting point. The entire control system can have multiple mounting points, meaning it can support multiple loads. The generator control unit is connected to the mounting bracket and the control computer 101, respectively.

[0043] The power control unit (PCU) supplies power to the mounting bracket and the load. It also performs thermal battery activation on the load. The PCU interacts with the mounting bracket to obtain and parse the communication protocol of the load, sending the parsed data to the control computer 101. This computer then controls the mounting bracket to perform unhooking and / or disengagement operations to mount or release the load. The mounting bracket not only mounts the load but also serves as the load release mechanism.

[0044] According to some embodiments, since the weight and structure of various types of loads are different in reality, the load and the bracket must be customized and used together in this application. Therefore, this application does not make a uniform requirement for the hardware structure of the bracket. The power supply interface of the bracket and the load is uniformly 28V DC power supply, and the communication is uniformly RS422 communication method. The bracket itself does not perform any data and logic processing, and transmits all data transparently to the control unit.

[0045] Figure 2 A schematic diagram of a control unit of an exemplary embodiment is shown.

[0046] like Figure 2 As shown, the control unit includes a protocol processing component and external interfaces. The external interfaces include: a power supply channel, a battery activation channel, a disconnection signal output channel, a disconnection signal output channel, a mounting bracket communication channel, and a control communication channel.

[0047] The protocol processing component is used to parse and process the communication protocol of the load mounted on the rack, and organize the parsed data into a format that conforms to the preset unified protocol before sending it to the control computer.

[0048] The power supply channel is used to transmit DC power so that the power control unit can supply power to the mounting bracket and the load mounted on the mounting bracket.

[0049] The battery activation channel is connected to the load via a mounting point and is used to transmit the load thermal battery activation control signal output by the generator control unit to realize the thermal battery activation operation of the load.

[0050] The disconnection signal output channel is used to transmit the rack disconnection control signal output by the control unit to control the rack to perform disconnection operations with the load.

[0051] The uncoupling signal output channel is used to transmit the rack uncoupling control signal output by the control unit to control the rack to perform the uncoupling operation with the load.

[0052] The rack communication channel is used to enable communication between the control unit and the rack, as well as to transmit the communication protocol of the load mounted on the rack through the rack, and send the communication protocol to the protocol processing component.

[0053] The control communication channel is used to realize communication between the control unit and the control computer, and to realize communication between the control unit and the control computer, and to transmit the unified protocol organized by the protocol processing component to the control computer 101.

[0054] The external interface and connection relationship of the control unit in this application are fixed, which can basically meet the connection needs of mainstream payloads and UAVs in the market, and allow different mounts and payloads to be connected to the control system normally.

[0055] Furthermore, the communication protocols and mechanisms of different types of loads are not the same. The usual approach to integrating different communication protocols into the control system is for the control computer software to handle different versions of load protocols. However, the gradual expansion of load types will make the control computer software more and more complex, bringing more software vulnerabilities. At the same time, due to the different communication mechanisms of different types of loads, the problem of how the control computer can correctly identify the load model mounted at the attachment point will also increase the complexity of user operation. Therefore, the conventional approach is not suitable.

[0056] Therefore, this application designs the control unit and the mounting bracket and load to be bound together. The control computer only communicates with the control unit. The control unit parses and processes the communication protocol of the connected loads and organizes the data to form a unified protocol agreed upon with the control computer for communication. The control computer only needs to communicate with the control unit in a unified manner and does not need to directly process the different protocols of each load, thereby reducing software complexity, operational difficulty and software risks.

[0057] This application also provides a control method for an unmanned aerial vehicle (UAV) control system, which is executed by a control computer of the UAV control system as described above.

[0058] Figure 3 A flowchart illustrating a control method for an unmanned aerial vehicle (UAV) control system of an exemplary embodiment is shown.

[0059] like Figure 3 As shown, the control method includes steps S301-S308.

[0060] In step S301, information about the target object collected by the photoelectric component is obtained.

[0061] According to an example embodiment, the photoelectric component collects information about the target object and sends it to the control computer.

[0062] In step S302, the flight parameter information of the UAV collected by the flight control computer is obtained.

[0063] According to the example embodiment, the flight control computer collects flight parameter information of the UAV and sends it to the control computer. This flight parameter information includes inertial navigation information, velocity information, and flight attitude information.

[0064] In step S303, the communication protocol of the mounted load transmitted at N attachment points is obtained.

[0065] According to the example embodiment, the control unit parses and processes the communication protocol of the load mounted on the rack, organizes the parsed data into a format that conforms to the unified protocol, and sends it to the control computer.

[0066] In step S304, load control calculations are performed based on the target object information, flight parameter information, and N communication protocols to determine the first condition signal.

[0067] According to the example embodiment, the control computer calculates the target's longitude, latitude, and altitude information based on the target object's information. The control computer takes the target's longitude, latitude, and altitude information, along with the UAV's coordinates, altitude, speed, attitude, and other flight parameters, as input information. Based on the communication protocols of different attachment points and the payload type indicated by the communication protocol, the control computer selects the corresponding control calculation module, injects the input information for control calculation, and outputs the calculation result as the first condition signal.

[0068] The control computer in this application uses the uC / OS-II operating system, which can run up to 64 threads, is compatible with different load algorithm designs, and can simultaneously meet the control calculation process and subsequent release process for different loads. The load control calculation process of this application can be replicated into multiple threads that run simultaneously, enabling loads at different attachment points to run and perform control calculations simultaneously. Then, the subsequent release process determines the attachment point that needs to be released and executes the release process normally.

[0069] The first condition signal includes: the solution decision result, the off-axis angle, the laser irradiation delay time, and the payload flight time. This application uses this as an example regarding the first condition signal, but it is not limited thereto.

[0070] In step S305, control commands sent by the ground station are received.

[0071] According to an example embodiment, the ground station sends control commands to the control computer.

[0072] In step S306, the control command is parsed to determine the second condition signal.

[0073] Step S306 specifically includes: steps S3061-S3062.

[0074] Step S3061: Determine the type of control command.

[0075] According to the example embodiment, after receiving a control command, the control computer performs parsing processing to determine the type of the control command. If the control command is a release command, the process proceeds to step S3062.

[0076] Step S3062: If the control command is a release command, determine the load type specified in the control command, and determine the second condition signal according to the load type specified in the control command.

[0077] According to an example embodiment, the second condition signal includes the type of payload to be released as specified by the ground station.

[0078] In step S307, based on the first condition signal and the second condition signal, a first control signal is output to at least one of the N hanging points to control at least one hanging point to release the load.

[0079] Step S307 specifically includes steps S3071 and S3072.

[0080] Step S3071: Based on the second condition signal, obtain the control calculation result of the corresponding load type in the first condition signal, and determine whether the corresponding load meets the release condition.

[0081] According to the example embodiment, the control computer, based on the type of payload to be released specified by the ground station and the second condition signal, obtains the control calculation result of the corresponding payload in the first condition signal, and determines whether the corresponding payload meets the release conditions based on the control calculation result. The release conditions include: whether the UAV attitude and target distance are within range, etc.; if satisfied, proceed to step S3072.

[0082] In step S3072, when the load meets the release conditions, a first control signal is sent to the control unit at the corresponding attachment point to control the control unit to output a load thermal battery activation control signal, perform a load thermal battery activation operation, and control the control unit to output a hanger insertion / removal control signal and a hanger disengagement control signal, so that the hanger performs an insertion / removal operation from the load and a disengagement operation.

[0083] According to the example embodiment, when the load meets the release conditions, the control computer outputs a first control signal to the corresponding attachment point, so that the generator control unit of the corresponding attachment point performs a thermal battery activation operation on the load. The generator control unit outputs a mount insertion / disengagement control signal and a mount unhooking control signal, so that the mount performs an insertion / disengagement operation and a unhooking operation with the load.

[0084] According to the example embodiment, this application can also realize the rapid switching of different loads and the simultaneous operation of multiple loads in the control system. The core of flexible load selection lies in the accurate judgment of the load type of the attachment point: the control computer only needs to adjust the selection of the target attachment point, and during the load control calculation process, the load type variable corresponding to the attachment point will be automatically identified and synchronously matched with the control calculation algorithm adapted to the load; and during the subsequent reception and parsing of control commands (such as release commands), the above-mentioned adjusted and selected attachment point will synchronously perform the release condition judgment, thereby realizing the flexible switching of different loads.

[0085] In step S308, when the load of at least one of the N hanging points is released, a second control signal is output to the photoelectric component to control the photoelectric component to irradiate the target object with laser.

[0086] According to the example embodiment, after the payload is released, the control computer will output a second control signal to the photoelectric component based on the laser irradiation delay time and the payload flight time, so as to control the photoelectric component to perform laser irradiation or laser deactivation operation on the target object, thereby completing the attack mission.

[0087] This application provides an unmanned aerial vehicle (UAV) control system and method. Through standardized hardware interface design, control unit protocol conversion, and a uC / OS-II multi-threaded software architecture, combined with an automatic payload type identification and matching mechanism, it can simultaneously support multiple payloads of different sizes, weights, and hardware characteristics without requiring repeated hardware modifications and software adaptations for a single payload. This effectively solves the problems of incompatible hardware interfaces for multiple payloads, inconsistent communication protocols, and difficulty in integrating calculation algorithms and release processes in existing technologies. Employing a multi-threaded parallel control calculation design and a linked switching mechanism for payload selection, it enables simultaneous calculation and standby of multiple payloads and rapid switching and release without system restart. Payload type identification and calculation module matching can be completed in a short time, significantly shortening release preparation time and meeting the real-time requirements for rapid response. The application also introduces a fixed hardware interface and a modular software architecture for scalability. The design incorporates a novel payload expansion method that only requires adaptation to the corresponding protocol parsing logic and calculation module. This allows for flexible adaptation to the subsequent addition of payloads to fixed-wing UAVs, balancing payload expansion efficiency with system compatibility. It avoids the high cost of traditional expansion methods that require refactoring control software. It also avoids the inadequacy of single-payload deployments for complex tasks, reducing the impact of power-on expansions due to improper payload selection, lowering the risk of data loss and equipment initialization errors, and reducing system resource consumption. The modules are highly versatile and easily integrated into the payload systems of different fixed-wing UAV models. Furthermore, the functionality can be expanded by upgrading the payload protocol parsing algorithm and optimizing the control calculation logic. Operation is convenient; attachment point selection and calculation parameters can be adjusted via software without system downtime, significantly reducing system maintenance and upgrade complexity. Simultaneously, it achieves precise payload selection and efficient task execution.

[0088] Figure 4 This diagram illustrates the structure of an electronic device provided in this application.

[0089] See Figure 4 , Figure 4 An electronic device is provided, including a processor and a memory. The memory stores computer instructions, which, when executed by the processor, cause the processor to perform the computer instructions to achieve the following: Figure 3 The method and its detailed scheme are shown.

[0090] It should be understood that the above-described device embodiments are merely illustrative, and the device disclosed in this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0091] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0092] When an integrated unit / module is implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor or chip can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, on-chip cache, off-chip memory, and storage can be any suitable magnetic or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), etc.

[0093] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments disclosed herein. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0094] This application also provides a non-transitory computer storage medium storing a computer program, which, when executed by multiple processors, causes the processors to perform actions such as... Figure 3 The method and its detailed scheme are shown.

[0095] It should be clearly understood that this application describes how specific examples are formed and used, but this application is not limited to any details of these examples. Rather, based on the teachings of the disclosure of this application, these principles can be applied to many other embodiments.

[0096] Furthermore, it should be noted that the above figures are merely illustrative representations of the processes included in the method according to exemplary embodiments of this application, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0097] Exemplary embodiments of this application have been specifically shown and described above. It should be understood that this application is not limited to the detailed structures, arrangements, or implementation methods described herein; rather, this application is intended to cover various modifications and equivalent arrangements that fall within the objectives and scope of the appended claims.

Claims

1. A drone control system, characterized in that, include: Optoelectronic components are used to acquire information about a target object, lock onto the target object, and irradiate it with a laser. A flight control computer is used to collect flight parameter information of the UAV and control the flight of the UAV. The flight parameter information includes inertial navigation information, speed information and / or flight attitude information. There are N attachment points for mounting loads and a communication protocol for parsing and processing the mounted loads, where N is an integer greater than or equal to 1. A control computer is connected to the optoelectronic component, the flight control computer, the N attachment points, and the ground station, respectively. It communicates with the optoelectronic component, the flight control computer, the N attachment points, and the ground station. Based on the target object information transmitted by the optoelectronic component, the flight parameter information transmitted by the flight control computer, the communication protocol transmitted by the N attachment points, and the control commands sent by the ground station, it performs load control calculations, outputs a first control signal to at least one of the N attachment points to control the at least one attachment point to release the load, and outputs a second control signal to the optoelectronic component to control the optoelectronic component to irradiate the target object with laser.

2. The unmanned aerial vehicle control system as described in claim 1, characterized in that, Also includes: A power supply motor is connected to the optoelectronic component, the flight control computer, the N attachment points, and the control computer, respectively, to provide power support for the optoelectronic component, the flight control computer, the N attachment points, and the control computer.

3. The unmanned aerial vehicle control system as described in claim 1, characterized in that, Each of the N hanging points includes: Hanging rack, used to mount the load; The control unit is connected to the mounting bracket and the control computer, respectively, and is used to supply power to the mounting bracket and the load, perform thermal battery activation operation on the load, and interact with the mounting bracket to obtain the communication protocol of the load mounted on the mounting bracket and perform parsing processing. The parsed data is sent to the control computer, thereby controlling the mounting bracket to perform unhooking and / or unplugging operations to mount or release the load.

4. The unmanned aerial vehicle control system as described in claim 3, characterized in that, The control unit includes: The protocol processing component is used to parse and process the communication protocol of the load mounted on the rack, and organize the parsed data into a format that conforms to a preset unified protocol before sending it to the control computer. A power supply channel is used to transmit direct current to power the bracket and the load mounted on the bracket. A battery activation channel is used to transmit load thermal battery activation control signals to realize the thermal battery activation operation of the load. A disconnection signal output channel is used to transmit a hanger disconnection control signal to control the hanger to perform a disconnection operation with the load; The uncoupling signal output channel is used to transmit the hanger uncoupling control signal to control the hanger to perform the uncoupling operation from the load; The mounting communication channel is used to realize communication between the control unit and the mounting, as well as to transmit the communication protocol of the load mounted on the mounting through the mounting, and send the communication protocol to the protocol processing component; A control communication channel is used to enable communication between the control unit and the control computer, and to transmit the unified protocol organized by the protocol processing component to the control computer.

5. A control method for an unmanned aerial vehicle (UAV) control system, characterized in that, The control method, executed by the control computer of the unmanned aerial vehicle control system as described in any one of claims 1-4, comprises: Obtain information about the target object collected by the photoelectric component; The flight parameter information of the UAV collected by the flight control computer is obtained. Obtain the communication protocol of the mounted load transmitted at the N mounting points; Based on the target object information, the flight parameter information, and N communication protocols, perform load control calculations to determine the first condition signal; Receive control commands sent by the ground station; Parse the control command to determine the second condition signal; Based on the first condition signal and the second condition signal, a first control signal is output to at least one of the N hanging points to control the at least one hanging point to release the load.

6. The control method as described in claim 5, characterized in that, The process of parsing the control command and determining the second condition signal includes: Determine the type of the control command; If the control command is a release command, determine the load type specified in the control command; The second condition signal is determined based on the load type specified in the control command, wherein the second condition signal includes the load type to be released by the ground station.

7. The control method as described in claim 6, characterized in that, The step of outputting a first control signal to at least one of the N attachment points based on the first condition signal and the second condition signal to control the at least one attachment point to release the load includes: Based on the second condition signal, obtain the control calculation result of the corresponding load type in the first condition signal, and determine whether the corresponding load meets the release condition; When the load meets the release conditions, a first control signal is sent to the control unit at the corresponding attachment point to control the control unit to output a load thermal battery activation control signal to perform a load thermal battery activation operation, and to control the control unit to output a hanger insertion / removal control signal and a hanger disengagement control signal, so that the hanger performs an insertion / removal operation from the load and a disengagement operation.

8. The control method as described in claim 6, characterized in that, Also includes: When the load at at least one of the N hanging points is released, a second control signal is output to the photoelectric component to control the photoelectric component to irradiate the target object with laser.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the method as described in any one of claims 5-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 5-8.

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