CN102530256A - Air-ground amphibious task set - Google Patents
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- CN102530256A CN102530256A CN2012100644870A CN201210064487A CN102530256A CN 102530256 A CN102530256 A CN 102530256A CN 2012100644870 A CN2012100644870 A CN 2012100644870A CN 201210064487 A CN201210064487 A CN 201210064487A CN 102530256 A CN102530256 A CN 102530256A
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Abstract
The invention discloses an air-ground amphibious task set. The task set consists of a ground unmanned mobile platform, and a plurality of flying robots; and the ground unmanned mobile platform is combined with and separated from the flying robots through an automatic release mechanism on the ground unmanned mobile platform. During task execution, the flying robots are fixedly connected with the ground unmanned mobile platform through the automatic release mechanism, and a control operator remotely controls the mobile platform through wireless communication, and guides the whole task set to a task area according to a global positioning system (GSP) position signal on the mobile platform and the returned image signal. After the task set arrives in a task area, the control operator sends a flying command to the mobile platform; and after the automatic release mechanism is opened, the mobile platform sends a take-off command to the flying robots, and the flying robots take off immediately and execute the task. The flying robots return a pose signal and detection information to the unmanned mobile platform in real time. The mobile platform adjusts the flying robots according to the pose signal of the flying robots and returns the detection information of the flying robots to a control center. Through coordination of members of the set, the tasks of battlefield detection, resource exploration, disaster relief and the like are executed.
Description
Technical field
The invention belongs to the multirobot application, be specifically related to a kind of air-ground amphibious task groups.
Background technology
20 end of the centurys; The continuous development of Along with computer technology, sensing technology, control theory; And society is for the continuous increase of specialized robot demand, the work that robot can be accomplished from simple commercial production be transformed into complicacy battle reconnaissance, anti-riotly dash forward, various aspects such as disaster relief, resource exploration, medical assistance and home services.It no matter is the figure that people can both see specialized robot in the Afghan battlefield that flames of war raging everywhere or in world-shaking Fukushima nuclear leakage incident.In recent years, the normal life that reactionary forces such as " separatism in the Xinjiang Uygur Autonomous Region molecule ", " Tibetan independence molecule " utilize the complicated landform of western China frequently to harass the resident has had a strong impact on stabilizing the situation as a whole of China's reform and opening-up.Search for these terrorists' hiding-place and give its havoc of crucial importance; China has vast territory, and disaster takes place frequently regional numerous, and all various disasteies can take place every year, and can the quality of disaster relief directly have influence on and the people's life and property damage dropped to minimum level.And can correct guidance be provided for salvage work to reappraising of environment after the calamity; Along with highlighting of resource problem; The china natural resources exploration is more remote towards the position, environment is abominable more, area that situation is not clear more advances; Utilizing modern equipment that resource is explored can not only cost-cutting, and can reduce personnel's in this process injures and deaths.Specialized robot since its have control characteristics such as distance, adaptive capacity are strong, the exploration means are many become address the above problem one sharp weapon.
Along with the development of Robotics, individual machine people's ability, robustness, reliability, efficient etc. all have greatly improved; But complicated in the face of some, when needing high efficiency, parallel accomplishing of task, still need be through the co-ordination between a plurality of robots.Scholar has all over the world set up experiment porch one after another multirobot has been studied, and computer simulation system has Pennsylvania university and the common MuRoS multirobot analogue system of developing of Federal de Minas Gerais university of Brazil and the Player/Stage platform of U.S. Southern California university etc. of the U.S..Platform in kind have U.S. Oak Ridge National Laboratory CESAR Nomads robot system, the Collective Robotics experimental system of Canadian Alberta university, and the MRCAS system of Chinese Academy of Sciences's Shenyang Institute of Automation etc.
Because the huge prospect of using on the multi-robot system, many in recent years Chinese scholars have been launched research to this.Appoint gentle Cai of filial piety from the emerging multirobot remote monitor and control scheme that has proposed a kind of based on mobile ad hoc network, this monitoring scheme can make from control desk robot cooperation far away and survey, and passes detection information back control desk.Control desk is through detection data, the remote monitor and control site environment, and robot carried out suitable control.But because the restriction of the employed MANET bandwidth of test and the fugitiveness of link do not realize the real-time collection of video information.In order to solve robot guiding and the follow-up control method during multirobot is formed into columns such as control problem Yi Zhang of forming into columns in real time, increased the message feedback of following robot to guided robot.Simulation result shows that this method can avoid following robot behind automatic obstacle avoiding, to take place with the out of touch situation of guided robot by actv..Yet these researchs are just carried out analog simulation mostly in computing machine, the environment that can not well reflect reality, thus can't guarantee the feasibility in the reality.Simultaneously current multi-robot system research mainly concentrates in the two dimensional surface to be studied, and seldom relates to the research of multi-robot system in the three dimensional space.
Chinese patent document CN 101382429B has announced " a kind of ground air special-shaped multi-robot searching and rescuing system "; This system comprises a helicopter unmanned plane, many rescue robots in ground, pattern process computer, image pick-up card, supervisory control computer, search and rescue commanding, wireless digital broadcasting station, wireless image transmission radio station, obstacle, waits to rescue target etc.Aerial robot is responsible for investigation, and directly passes detection information back the control personnel, and the control personnel carry out the search and rescue task according to these information commander ground robot.Because the restriction that the flying robot is harsh to load, make the battery limited of carrying on it, the time compole of executing the task is short, and the task radius is minimum.Owing to the restriction of battery and load, flying robot's communication system is simpler and cruder simultaneously, and communication distance receives very big restriction.And between flying robot and ground robot, do not have direct information interchange, can not be referred to as the coordination of multirobot.
Summary of the invention
Content of the present invention is to provide a kind of air-ground amphibious task groups.The multi-robot system that land idle task group is made up of a tread unmanned plane moving platform and some flying robots.When executing the task, motor platform carries the flying robot and arrives mission area, lets the flying robot fly away through taking off laying mechanism automatically then, accomplishes tasks such as disaster relief, battle reconnaissance, resource exploration through motor platform and flying robot's cooperate.
In order to realize the foregoing invention purpose, a kind of air-ground amphibious task groups system is by ground unmanned plane moving platform, and some flying robots and the laying mechanism that takes off that connects the two are formed.It is characterized in that task groups with ground unmanned plane moving platform as the continental rise mother ship carrier, carry many flying robots, form air-ground amphibious task groups, in order in environment complicated and changeable, to execute the task efficiently.Task groups inside is in leadership by ground unmanned plane moving platform, carries performance-oriented airborne computer on it, and is furnished with wireless self-networking terminal and positioning navigating device.The flying robot is in by leadership, and miniature Ad hoc network terminal and pose sensor are housed on it.The unmanned plane moving platform is set up MANET rapidly with the flying robot and is communicated after carrying task groups arrival mission area.The control personnel send takeoff order to the unmanned plane moving platform, and control flying robot's track according to certain control policy.Can open automatically after motor platform receives orders and take off laying mechanism, the flying robot takes off and the motor platform disengaging is executed the task.The flying robot feeds back to the unmanned plane moving platform with posture information.After airborne computer on the motor platform compared these information and expected pose information, adjustment flying robot's attitude was to realize closed loop control.Shown in the information bang path of whole task groups.Task groups adopts broadband MANET technology to communicate, and its bandwidth not only can guarantee the transmission of task groups inner control and sensory information, can also transmit smooth vision signal.
The unmanned plane moving platform belongs to caterpillar mobile robot, can under non-structure environment, realize charging into fast.Because having track structure, it can realize crossing over actions such as trench, climbing ladder, quick steering.Be furnished with GPS position fixing system and a plurality of camera on the unmanned plane moving platform simultaneously, position signal and picture signal during its motion can be passed to control center in real time.Being furnished with high-performance ad-hoc network terminal on the unmanned plane moving platform can utilize mobile ad hoc network to communicate in the weak place of network infrastructure.
Automatically take off laying mechanism and be fixed on the motor platform upper end, form by support, backplate, pallet, spring, pulley, moving body, steel rope, connecting panel, electronic cylinder, axle, nut etc.In the task groups traveling process, backplate relies on the elastic force of spring that the flying robot is clamped, and reduces the suffered impact of flying robot in the traveling process.When task groups arrived the expansion of task region, electronic cylinder drove steel rope and moves downward, and steel rope outwards opens backplate through the motion of pulley break-in rear haulage backplate.When backplate was opened to proper angle, the flying robot promptly can accomplish takeoff maneuver.
The flying robot adopts the Rzeppa shape structure, and engineering plastics have alleviated the quality of robot greatly as shell, thereby have improved the load-carrying capacity of robot.The flying robot as driver element, adjusts flying robot flight attitude through the position of adjusting 8 rudder plates by the screw propeller of driven by motor.The flying robot can realize that hovering, low speed spiral and action such as high-performance cruise.Be furnished with the IMU inertial measurement system on the flying machine, can detect the pose signal in real time, and this signal is passed to motor platform, motor platform sends the adjusting control order to the flying robot behind analytic signal.
Because ground maneuver flat-bed cruising speed is fast, cruise duration is long, therefore whole task groups can obtain bigger task radius.The motor platform load carrying ability can be equipped with high-performance ad-hoc network terminal more greatly to be used to realize communicate by letter with remote, the special quality of control center.Simultaneously go to the destination because motor platform carries the flying robot, saved the energy that the flying robot goes to the destination, more the expansion scope of reconnaissance is used with above the raising communication quality in the multipotency source.The flying robot is last to be loaded with low power communication terminal, can directly communicate with motor platform, and can the vision signal that spy out be passed to control center through the springboard effect of motor platform.The flying robot has the advantages that mode of motion is flexible, observation visual angle is wide, and this has expanded the efficient that task groups is executed the task greatly.
The invention has the advantages that:
(1) task groups combines unmanned ground maneuver platform with the flying robot, has formed air-ground amphibious multirobot task groups.Unmanned plane moving platform cross country power is strong, that load-carrying capacity is big advantage and flying robot's investigative range are wide, the motion flexible characteristic combines together.
(2) task groups adopts the mobile ad hoc network technology to communicate, and does not receive the influence of network infrastructure, and can expand communication distance through the multi-hop mode.Also can carry out coordination and interaction between a plurality of task groups.
What (3) motor platform linked to each other employing with the flying robot in the task groups takes off laying mechanism automatically; What can guarantee that task groups combines that the flying robot can be firm in the traveling process is fixed on the motor platform, and the flying robot can take off smoothly in the time of guaranteeing again that task groups is launched to execute the task.
(4) task groups adopts three-dimensional coordination control strategy, makes the task groups member in three dimensional space, cooperate, and can accomplish multiple-tasks such as scouting, search, exploration.Expand the scope of executing the task, improved the efficient of executing the task.
Description of drawings
Accompanying drawing 1 air-ground amphibious task groups overall schematic;
The scheme drawing that accompanying drawing 2 air-ground amphibious task groups expansion are executed the task;
Accompanying drawing 3 takes off laying mechanism automatically and forms scheme drawing;
Accompanying drawing 4 air-ground amphibious task groups flow of information cardons;
In the accompanying drawing: 1-ground unmanned plane moving platform, 2-takes off laying mechanism automatically, 3-flying robot, 4-spring, 5-support, 6-backplate, 7-connecting panel, 8-pallet, 9-pulley, 10-axle, 11-nut, 12-steel rope, the electronic cylinder of 13-, 14-movable block.
The specific embodiment
Further specify below in conjunction with the special case of accompanying drawing 4 flying robots of a ground maneuver platform lift-launch among the present invention.
From accompanying drawing 1 can find out air-ground amphibious task groups by ground unmanned plane moving platform 1 as the continental rise mother ship carrier, carried 4 flying robots 3 through taking off laying mechanism 2 automatically above; Be the travel condition of task groups this moment, take off automatically laying mechanism 2 clamp flying robots 3 can unstability with the assurance flying robot and come off with the unmanned plane moving platform and to separate; Thereby task groups gets into the task radius that mission area has been expanded task groups with travel condition, has saved flying robot 3 the energy, has prolonged flying robot 3 work-hours, has improved the ability that whole task groups is executed the task.
After accompanying drawing 2 is depicted as task groups and arrives at mission area, the state that launches and execute the task; Ground unmanned plane moving platform 1 is received the expansion order of control center, takes off laying mechanism 2 automatically and launches immediately; After the whole flat of launching to finish was stable, the control personnel assigned takeoff order through 1 couple of flying robot 3 of ground unmanned plane moving platform, and the order that the flying robot receives unmanned plane moving platform 1 is taken off and executed the task.
Accompanying drawing 3 is for take off the structural representation of laying mechanism automatically, and two connecting panel 7 middle parts are hinged on the support 5, and become the center symmetric arrangement along its axis; Pallet 8 is fixed on the support 5, and backplate 6 is fixed on the connecting panel 7, and the two common completion is fixing to spherical flying robot's 3.Two connecting panels 7 have an end of groove to pass from movable block 14 intermediate gaps; Thereby axle 10 passes movable block 14 respectively and makes the own straight-line motion up and down of realizing that groove limits with grooves in the connecting panel 7; One end of axle 10 is that stepped shaft is spacing, and the other end is fixed on the movable block 14 by nut; One end of spring 4 is fixed on the support 5, and the other end is fixed on the movable block 14, in the task groups travel condition, provides movable block 14 downward power by spring 4, and drives two connecting panels 7 through axle 10 and inwardly step up flying robot 3; When task groups was launched, electronic cylinder 13 received that the order rear telescopic rod begins to shrink and haulage cable 12 moves downward, and steel rope 12 has changed direction through behind the pulleys 8, pulling movable block 14 upward movements; This moment, movable block 14 outwards launched through two connecting panels 7 of axle 10 drives, thereby flying robot 3 and backplate 6 are disengaged, and 3 of flying robots receive pallet 8 in the lower support effect, and after receiving takeoff order, flying robot 3 just can take off smoothly.
4 in accompanying drawing has been represented the information flow mode of whole task groups; The control personnel carry out the order input through man machine interface; And order is passed to ground unmanned plane moving platform through mobile ad hoc network; The unmanned plane moving platform is in leadership in whole task groups, carried performance-oriented computing machine and high-performance self-organizing network terminal on it, can realize remote radio communication in the deficient zone of network infrastructure; The unmanned plane moving platform is accepted control personnel's order and is passed oneself GPS position signal and picture signal back the control personnel, so that the control personnel can guide to mission area with task groups smoothly; After arriving the target area; The control personnel launch through MANET Command Task group; After motor platform and flying robot set up ad-hoc network and communicate by letter, the flying robot is passed in order, thereby and the pose feedback signal of accepting the flying robot realize accuracy control to it; The control personnel are that medium and flying robot carry out information interchange with the motor platform, accomplish the functions such as passback of flying robot's vision signal.
Claims (2)
1. air-ground amphibious task groups is characterized in that: whole task groups by ground unmanned plane moving platform (1), take off laying mechanism (2) and flying robot (3) automatically and constitute; Automatically take off laying mechanism (2) and pass through screw retention on the unmanned plane moving platform; In the task groups traveling process, flying robot (3) is fixed on and takes off automatically in the laying mechanism (2), when task groups is executed the task and launched, takes off laying mechanism (2) automatically and opens, thereby make the flying robot take off and break away from ground unmanned plane moving platform (1).
2. the laying mechanism (2) that takes off automatically as claimed in claim 1 is characterized in that: mechanism is by spring (4), support (5), backplate (6), connecting panel (7), pallet (8), pulley (9), axle (10), nut (11), steel rope (12), electronic cylinder (13), movable block (14); Support (5) passes through screw retention on ground unmanned plane moving platform (1); Be hinged on the support (5) in the middle of the connecting panel (7), an end links to each other through screw with backplate (6); Pallet (8) is fixed on the support, with common fixedly flying robot's (3) the task of accomplishing of two backplates; Axle (10) passes the groove of movable block (14) and two connecting panels (7) end successively, and is fixed on the movable block (14) by nut (11); One end of spring links to each other with support, and the other end links to each other with movable block (7), for taking off laying mechanism gripping power is provided; Pulley (9) is fixed on the support; One end of steel rope links to each other with movable block (7), and through pulley (9) change of direction, the other end links to each other with electronic cylinder (12), through electronic cylinder (12) thus traction come antagonistic spring elastic force to open to take off laying mechanism (2) automatically.
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| CN2012100644870A CN102530256A (en) | 2012-03-13 | 2012-03-13 | Air-ground amphibious task set |
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Cited By (19)
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| CN103149893A (en) * | 2013-01-29 | 2013-06-12 | 中国人民解放军装备学院 | Maneuvering self-organization situation monitoring system |
| CN103552616A (en) * | 2013-10-29 | 2014-02-05 | 赵丹 | Compound staggered self-recognition stacked structure robot |
| CN103692446A (en) * | 2013-12-31 | 2014-04-02 | 中国矿业大学 | Moving and flying multi-robot system used for gallery detection and search-and-rescue |
| CN104216408A (en) * | 2014-09-04 | 2014-12-17 | 兰州理工大学 | Wireless remote control terrain exploration trolley |
| CN104410887A (en) * | 2014-12-25 | 2015-03-11 | 安科智慧城市技术（中国）有限公司 | Video-based remote control method and device |
| CN105773659A (en) * | 2016-05-16 | 2016-07-20 | 苏州金建达智能科技有限公司 | Multifunctional robot for factory |
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| CN106799739A (en) * | 2017-03-21 | 2017-06-06 | 金陵科技学院 | All-purpose robot is investigated in a kind of land, water and air |
| CN106898249A (en) * | 2017-04-20 | 2017-06-27 | 中国石油大学(华东) | A kind of map structuring system and its construction method for earthquake-stricken area communication failure region |
| CN107127760A (en) * | 2017-07-12 | 2017-09-05 | 清华大学 | A kind of track combined anthropomorphic robot of foot |
| CN107390710A (en) * | 2017-05-08 | 2017-11-24 | 大陆智源科技（北京）有限公司 | Unmanned plane recovery system |
| WO2018077300A1 (en) * | 2016-10-31 | 2018-05-03 | 比亚迪股份有限公司 | Landing pad for unmanned aerial vehicle |
| WO2018077298A1 (en) * | 2016-10-31 | 2018-05-03 | 比亚迪股份有限公司 | Unmanned aerial vehicle landing platform |
| CN108016607A (en) * | 2016-10-31 | 2018-05-11 | 比亚迪股份有限公司 | Unmanned plane lifting gear |
| CN108016608A (en) * | 2016-10-31 | 2018-05-11 | 比亚迪股份有限公司 | Unmanned plane undercarriage and unmanned plane |
| CN108557108A (en) * | 2017-12-26 | 2018-09-21 | 杭州哈智机器人有限公司 | Land sky security robot and its application process |
| CN110481782A (en) * | 2019-07-30 | 2019-11-22 | 潍坊学院 | A kind of flight formula Agricultural insecticide-spraying device that can temporarily build chain rail |
| CN112882477A (en) * | 2021-01-26 | 2021-06-01 | 汕头大学 | Control method and system for separable air-ground amphibious cooperative robot |
| CN115585850A (en) * | 2022-11-15 | 2023-01-10 | 中国地质大学（北京） | Underground engineering disaster source multi-element detection amphibious unmanned aerial vehicle platform and detection method |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103149893A (en) * | 2013-01-29 | 2013-06-12 | 中国人民解放军装备学院 | Maneuvering self-organization situation monitoring system |
| CN103149893B (en) * | 2013-01-29 | 2016-08-03 | 中国人民解放军装备学院 | Motor-driven self-organization situation monitoring system |
| CN103552616A (en) * | 2013-10-29 | 2014-02-05 | 赵丹 | Compound staggered self-recognition stacked structure robot |
| CN103692446A (en) * | 2013-12-31 | 2014-04-02 | 中国矿业大学 | Moving and flying multi-robot system used for gallery detection and search-and-rescue |
| CN103692446B (en) * | 2013-12-31 | 2015-08-12 | 中国矿业大学 | For tunnel detection with the movement of searching and rescuing, fly multi-robot system |
| CN104216408A (en) * | 2014-09-04 | 2014-12-17 | 兰州理工大学 | Wireless remote control terrain exploration trolley |
| CN104410887A (en) * | 2014-12-25 | 2015-03-11 | 安科智慧城市技术（中国）有限公司 | Video-based remote control method and device |
| CN105773659A (en) * | 2016-05-16 | 2016-07-20 | 苏州金建达智能科技有限公司 | Multifunctional robot for factory |
| CN105773659B (en) * | 2016-05-16 | 2019-02-12 | 广州中设机器人智能装备股份有限公司 | A kind of factory's multi-function robot |
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| CN108016607A (en) * | 2016-10-31 | 2018-05-11 | 比亚迪股份有限公司 | Unmanned plane lifting gear |
| CN108016629B (en) * | 2016-10-31 | 2020-07-10 | 比亚迪股份有限公司 | Unmanned aerial vehicle take-off and landing platform |
| WO2018077300A1 (en) * | 2016-10-31 | 2018-05-03 | 比亚迪股份有限公司 | Landing pad for unmanned aerial vehicle |
| WO2018077298A1 (en) * | 2016-10-31 | 2018-05-03 | 比亚迪股份有限公司 | Unmanned aerial vehicle landing platform |
| CN108016607B (en) * | 2016-10-31 | 2020-03-20 | 比亚迪股份有限公司 | Unmanned aerial vehicle take-off and landing device |
| CN108016608A (en) * | 2016-10-31 | 2018-05-11 | 比亚迪股份有限公司 | Unmanned plane undercarriage and unmanned plane |
| CN108016629A (en) * | 2016-10-31 | 2018-05-11 | 比亚迪股份有限公司 | Unmanned plane landing platform |
| CN108016608B (en) * | 2016-10-31 | 2020-05-22 | 比亚迪股份有限公司 | Unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
| CN106799739A (en) * | 2017-03-21 | 2017-06-06 | 金陵科技学院 | All-purpose robot is investigated in a kind of land, water and air |
| CN106898249A (en) * | 2017-04-20 | 2017-06-27 | 中国石油大学(华东) | A kind of map structuring system and its construction method for earthquake-stricken area communication failure region |
| CN107390710A (en) * | 2017-05-08 | 2017-11-24 | 大陆智源科技（北京）有限公司 | Unmanned plane recovery system |
| CN107127760A (en) * | 2017-07-12 | 2017-09-05 | 清华大学 | A kind of track combined anthropomorphic robot of foot |
| CN108557108A (en) * | 2017-12-26 | 2018-09-21 | 杭州哈智机器人有限公司 | Land sky security robot and its application process |
| CN110481782A (en) * | 2019-07-30 | 2019-11-22 | 潍坊学院 | A kind of flight formula Agricultural insecticide-spraying device that can temporarily build chain rail |
| CN112882477A (en) * | 2021-01-26 | 2021-06-01 | 汕头大学 | Control method and system for separable air-ground amphibious cooperative robot |
| CN115585850A (en) * | 2022-11-15 | 2023-01-10 | 中国地质大学（北京） | Underground engineering disaster source multi-element detection amphibious unmanned aerial vehicle platform and detection method |
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Application publication date: 20120704 |