RU2837602C1 - Method for continuous monitoring of critical objects by a group of unmanned aerial vehicles along a closed route - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to the field of unmanned aircraft, namely to automated control systems of a group of UAVs using artificial intelligence systems, specifically genetic algorithms for calculating monitoring routes. Following methods are used: setting of flight altitudes in accordance with conditions of the performed task; setting UAV flight routes in a group; setting the permissible distance between the UAVs based on the safety conditions of the flight of the group; setting motion vectors on the flight route of the UAV group. UAV flight routes in a group are realized along a closed loop with selection of mandatory route points. Constant resultant vector of motion between two route points following each other is set. Time intervals are set between change of waypoints by each UAV from conditions of UAV group flight safety. Resultant motion vector for each UAV changes when passing the waypoint.

EFFECT: along with solution of monitoring tasks implementation of the method allows to ensure safety of UAV group flight in air space.

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Description

The invention relates to a method for autonomous control of a group of unmanned aerial vehicles (UAVs) flying along a closed route for the purpose of monitoring the terrain of a controlled space.

To implement the method, a graph model of a closed flight route of a group of UAVs is used: the vertices of the graph coincide with the route points assigned on the flight route by the operator, and the segments between the route points coincide with the edges of the graph model.

The route points are selected, on the one hand, based on the condition of solving the problem, and on the other hand, based on the condition of excluding collisions between UAVs. To exclude collisions during UAV movement, the model assumes that only one UAV is on the route segment between two vertices, i.e. the UAV starts moving along the route segment between two route points (along the graph edge) only if there is no UAV in any part of this segment. Collisions are excluded by regulating the UAV flight speed on each segment of the monitoring route that coincides with the edge of the graph model, so that each UAV passes the graph vertex in the absence of another UAV at this vertex, i.e. the previous UAV must start moving before the next UAV reaches the route point where the previous UAV was located, but after the object observed by the previous UAV enters the visibility zone of the next UAV.

The invention relates to the field of unmanned aviation, namely to automated control and monitoring systems for a group of UAVs using artificial intelligence systems, specifically genetic algorithms for calculating monitoring routes.

Flight control of a UAV group ensures the solution of the task of monitoring the terrain of the controlled space. The task of monitoring consists of flying around the space along a predetermined route, receiving information from control means, processing it and making a decision on the state of the controlled space.

Along with solving monitoring problems, the implementation of the proposed method allows ensuring the safety of the flight of a group of UAVs in the airspace.

Currently, various methods of monitoring spaces have become widespread: systems have been developed to monitor industrial zones, urban development and adjacent areas, forest areas to identify places of contamination with chemicals, fires, and air pollution. The basis of monitoring is the solution of search problems using special sensors installed on UAVs.

To solve such problems (search problems), UAV groups are used. In addition to solving the main problem, it is necessary to constantly solve the problem of ensuring the safety of UAV group flights, namely, preventing collisions of individual UAVs. In this case, flight safety is ensured by setting the minimum permissible distance within which the approach of aircraft is unacceptable.

A method for using unmanned aerial vehicles and a control device are known (RU Patent No. 2457531, IPC G05D 1/00, published on 27.07.2012, Bulletin No. 21) [1]. A method for using UAVs is proposed, based on the adaptation of their operating modes, in which "n" UAVs are taken (n> 3), the UAVs form a so-called "stack" in flight: the first UAV is the leader, the second and third are slaves, and the leader UAV occupies the lower altitude echelon, the second UAV - the intermediate one, the third - the upper one.

The distance of the leading UAV from the earth's surface is determined by the safety of the flight and the unconditional fulfillment of the assigned task (for example, the flight altitude should be approximately 50 m). The flight of the second UAV is carried out above the leading one by 50 m, while the second UAV is a data repeater via a radio channel from the first UAV, which is also connected via a radio channel to the ground base control station.

The disadvantage of the known method is the need to set different altitudes to ensure flight safety, the lack of the possibility of autonomous flight of a group of UAVs, and the reduction of the monitoring area potentially accessible to three UAVs with such placement.

A method and device for controlling the flight of a group of aircraft are known (patent No. 2786276, IPC G08e 5/04; G05D 1/08, B64C 13/02, published 19.12.2022, bulletin No. 35) [2].

To control a group of UAVs, the flight altitude is set in accordance with the conditions of the problem being solved, the minimum permissible distance between UAVs and the permissible distance to the terrain, UAV identifiers are set and the distance that determines the radius of the area with the center at the location of the UAV, the coordinates of the UAVs are determined and transmitted to other UAVs, together with their identifiers, and control signals are generated taking into account the trajectory and motion parameters of other UAVs in the group - a ban on approaching the minimum permissible distance between UAVs.

The disadvantage of the known method is the need for a complex control system and the difficulty of constructing a flight order.

A method for trajectory control of a group of UAVs during monitoring of urban development is known (RU Patent No. 2765758, IPC G01R 31/00, published 02.02.2024 Bulletin No. 4) [3].

The invention relates to methods of trajectory control of a group of UAVs and can be used to ensure the flight of a group of UAVs when solving monitoring problems.

The horizontal flight around the urban development is carried out along a pre-planned route bypassing obstacles (for example, a building approximated by a rectangle) by comparing the planned route (information about which is stored in the onboard computer complex) and the current flight path, which is determined by standard onboard means. The UAV group flyby of obstacles is carried out in turn. In this case, the operator specifies only the center of the obstacle in the form of a rectangle, the length of its side and orientation to describe the selected obstacle.

Disadvantages of the known method:

only semi-autonomous operation is implemented, i.e. implementation with the participation of the operator of a pre-calculated and constructed (planned) route, with successive bypassing of obstacles, which increases the time for monitoring;

the monitoring area has been reduced to ensure guaranteed flight safety;

There is no provision for continuous monitoring after reaching the designated point.

The last analogue is the closest to the proposed invention and is its prototype.

The method of controlling the flight of a group of UAVs consists of the following:

set the flight altitude in accordance with the conditions of the task being performed;

set the flight route for the UAV group;

set the permissible distance between UAVs based on the safety conditions of the group flight;

set the movement vectors along the flight route of the UAV group.

The method differs in that:

set a closed flight route for a group of UAVs, on which route points are identified;

each UAV must fly through each waypoint;

model the flight route of a group of UAVs using an Eulerian graph, the vertices of which coincide with the route points, and the segments between the route points coincide with all the edges of the Eulerian graph;

set a constant resulting vector of movement between two route points following each other;

time intervals between the change of route points by each UAV are set based on the safety conditions of the UAV group flight;

When passing a route point, each UAV changes its movement vector.

Justification of the graph model for monitoring by a group of UAVs.

Initial data

Group composition: n≥m+1, where n is the number of UAVs in the group, m is the number of observed objects.

The flight of a UAV group is carried out along a closed route, on which the operator, in an arbitrary order (including from the conditions of the solution of the monitoring task), selects route points, the routes of which can be selected both on the closed circuit and inside.

An example of the route is shown in Fig. 1.

Fig. 1 shows a closed contour on which route points are highlighted: 1, 2, 3, 4, 5 - on the perimeter of the closed contour; 6 - inside the closed contour.

The graph model of the route is shown in Fig. 2.

When organizing a flight of n UAVs, the task is to return each UAV flying along different routes to the starting point - vertex 1.

A condition is set for passing a minimum distance in each flight route.

Each UAV flying along a separate route may pass through all route points (graph vertices) once or multiple times.

An Euler graph can be realized on the graph (Fig. 2): a closed route on an Euler graph passes once along each edge, and vertices can be passed repeatedly.

To simulate the flight of a group of UAVs, programs were developed and implemented in software products (Program for calculating a closed route based on a graph of reference points on the ground // Certificate No. 2019610603; Program for calculating an optimal closed route based on a graph of reference points on the ground using an entire p-adic function using a genetic algorithm // Certificate No. 2019617021) [4, 5].

The technical result of the proposed method is to ensure continuity (for a specified time) and simplify the monitoring of critical small-sized objects by unmanned aerial vehicles due to the use of UAVs in quantities greater than the number of such objects, as well as due to successive launches of UAVs from a group, taking into account the flight time between route points, the time of UAV monitoring of one route point, and the monitoring area of each UAV.

Sources Used

1. Method of using unmanned aerial vehicles and control device (RU Patent No. 2457531, IPC G05D 1/00, published 27.07.2012, Bulletin No. 21).

2. Method and device for controlling the flight of a group of aircraft (patent No. 2786276, IPC G08e 5/04; G05D 1/08, B64C 13/02, published 19.12.2022, bulletin No. 35).

3. Method of trajectory control of a group of UAVs when monitoring urban development (RU Patent No. 2765758, IPC G01R 31/00, published 02.02.2024, Bulletin No. 4).

4. Efremov A.A., Daragan A.D., Rudenko E.M., Alliluyeva N.V., Privalov M.I., Bilera A.A. Program for calculating a closed route based on a graph of reference points on the ground//Certificate No. 2019610603. Application No. 2018664931 dated 21.12.2018. Registered on 14.01.2019.

5. Efremov A.A., Daragan A.D., Rudenko E.M., Alliluyeva N.V., Semikina E.V., Privalov M.I., Bilera A.A., Daragan R.A. Program for calculating the optimal closed route based on a graph of reference points on the ground using an entire p-adic function using the genetic algorithm method // Certificate No. 2019617021. Application No. 2019616008 dated 05.24.2019. Registered on 06.03.2019.

Claims (1)

A method for continuous monitoring of critical objects by a group of unmanned aerial vehicles (UAVs) along a closed route, using the assignment of flight altitudes in accordance with the conditions of the task being performed, the assignment of flight routes for UAVs in a group, the assignment of an acceptable distance between UAVs based on the safety conditions of the group flight, the assignment of motion vectors on the flight route of the UAV group, characterized in that the flight routes of the UAVs in a group are implemented along a closed loop with the allocation of mandatory route points, a constant resulting motion vector is set between two route points following one another, time intervals are set between the change of route points by each UAV based on the safety conditions of the UAV group flight, the resulting motion vector for each UAV changes when passing a route point.

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