CN110239297A - One kind separating air-ground amphibious robot and separation combination control method - Google Patents
One kind separating air-ground amphibious robot and separation combination control method Download PDFInfo
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- CN110239297A CN110239297A CN201910448253.8A CN201910448253A CN110239297A CN 110239297 A CN110239297 A CN 110239297A CN 201910448253 A CN201910448253 A CN 201910448253A CN 110239297 A CN110239297 A CN 110239297A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
Abstract
One kind separating air-ground amphibious robot and separation combination control method, including four-axle aircraft and snake-shaped robot, snake-shaped robot is linked together by what the electromagnet on the lower end surface that is connected to the lower plate of four-axle aircraft and the iron block being connected at the top of snake-shaped robot can be separated and be combined, it is wherein additionally provided with the camera module for detecting four-axle aircraft Yu snake-shaped robot relative position on the lower end surface of the lower plate of four-axle aircraft, the ultrasonic module for detecting four-axle aircraft Yu snake-shaped robot relative distance is provided at the top of snake-shaped robot.Ground robot and air-robot of the present invention can carry out separation combination automatically at the appropriate time.With complicated landform walking and airflight ability, it can solve the problems, such as that air-robot or the land robot running space of single type are limited, investigate low efficiency, have a wide range of applications in the emergency such as rescue and relief work, geological disaster exploration, industrial accident investigation, fight against terrorism and violence investigation field.
Description
Technical field
The present invention relates to one kind to separate air-ground amphibious robot.Air-ground amphibious robot is separated more particularly to one kind
And separation combination control method.
Background technique
Air-ground amphibious robot has airflight and ground motion ability simultaneously, the spy with mobility and strong flexibility
Point can be widely applied to emergency investigation, security protection and military field.When air-ground amphibious robot motion, aerial fly need to be carried simultaneously
Capable and ground motion device, operational efficiency be not high.Meanwhile airflight and ground motion device make machine human body type larger,
It is unable to satisfy in some disaster fields with a varied topography to ground some areas even investigation of narrow concealed space.
Chinese invention patent document CN201410716895.9 discloses a kind of air-ground amphibious robot, using based on endless
The ground motion device and the airflight device based on coaxial double-oar, the two of full wheel construction are fixedly connected.Such robot deposits
The problem of be: (1) airflight and ground motion device are inseparable, and sport efficiency is not high.(2) due to airflight and ground
Face telecontrol equipment structure problem, entire robot center of gravity are higher, it is not easy to pass through the biggish landform of the gradient.
Chinese invention patent document CN201710058392.0 discloses one kind can be in the air-ground amphibious of ground omnidirectional rolling
Rotor craft combines the flight instruments based on rotor and the ground motion device based on beaded support structure.Such machine
People the problem is that: (1) airflight and ground motion device are inseparable, and sport efficiency is not high.(2) since shape is ball
Shape is not easy to stop in acclive place, and it is unfavorable to collect to the investigation of information.
Chinese invention patent document CN201710116654.4 discloses a kind of air-ground amphibious based on omni-directional wheel and rotor
Robot.Such robot equally exist sport efficiency it is not high be not easy to small space investigate the shortcomings that.
Summary of the invention
The technical problem to be solved by the invention is to provide one kind be able to solve emergency investigation occasion in need it is right simultaneously
Overall situation and partial situation carry out investigations problem separate air-ground amphibious robot and separation combination control method.
The technical scheme adopted by the invention is that: one kind separating air-ground amphibious robot, including four-axle aircraft and snake
Anthropomorphic robot, the snake-shaped robot are by the electromagnet on the lower end surface that is connected to the lower plate of the four-axle aircraft
What can be separated and combine with the iron block being connected at the top of the snake-shaped robot links together, wherein the four-axle aircraft
Lower plate lower end surface on be additionally provided with camera module for detecting four-axle aircraft Yu snake-shaped robot relative position,
The ultrasonic module for detecting four-axle aircraft Yu snake-shaped robot relative distance is provided at the top of the snake-shaped robot.
The snake-shaped robot includes: structure it is identical and set gradually positioned at front first wheel, be located at
Second wheel in portion and third wheel positioned at rear portion, wherein being opened on the chassis of second wheel by what front and back was arranged
The first upward steering engine u-bracket of mouth and the second steering engine u-bracket are symmetrically connected with the root of portion mechanism before snake-shaped robot
With the root of portion mechanism after snake-shaped robot, the end of portion mechanism is fixedly connected on first wheel before the snake-shaped robot
Chassis on, the end of portion mechanism is fixedly connected on the chassis of the third wheel after the snake-shaped robot, described
Top plate, the iron block and ultrasonic wave module point are provided with by the support column being arranged on the angle of four ends above two wheel chassis
The control unit for controlling snake-shaped robot, first vehicle She Zhi not be additionally provided on the top plate on the top plate
Wheel, the second wheel and third wheel are respectively arranged with the motor being connected by conducting wire with the control unit.
The electromagnet and iron block is respectively set 2 or more, and is symmetrical arranged.
Portion mechanism is identical as the snake-shaped robot rear portion mechanism structure before the snake-shaped robot, includes:
The first steering engine being connected in the U-type groove of the first steering engine u-bracket or the second steering engine u-bracket, is connected to described first
Third steering engine u-bracket of the steering engine far from the second wheel side, is connected to the third steering engine u-bracket far from the first steering engine one
Second steering engine of side, be connected in turn fourth steering engine u-bracket of second steering engine far from third steering engine u-bracket side and
5th u-bracket, third steering engine is connected in the groove of the 5th u-bracket, and the third steering engine passes through the 6th u-bracket
It is connected on the bottom plate of first wheel or third wheel, the control terminal of first steering engine, the second steering engine and third steering engine
The control unit being arranged on top plate is connected by conducting wire respectively.
A kind of separation method separating air-ground amphibious robot passes through after separating the landing of air-ground amphibious robot
Remote controler sends separates control instructions to flight controller through four-axle aircraft remote control receiver, and flight controller controls relay
Device disconnects the power supply of electromagnet, and electromagnet is separated with iron block, so that four-axle aircraft is separated with snake-shaped robot.
A kind of combined method described in claim 1 separating air-ground amphibious robot, includes the following steps:
1) it is sent and is instructed to snake-shaped robot controller through snake-shaped robot remote control receiver by remote controler, made snakelike
Below robot motion to four-axle aircraft；
2) it is sent and is instructed to snake-shaped robot controller through snake-shaped robot remote control receiver by remote controler, adjust snake
Anthropomorphic robot position is until the camera module being located on four-axle aircraft can recognize the top plate profile of snake-shaped robot；
3) image information of the top plate profile of camera module acquisition passes to host computer by figure passes receiver, described
Host computer carries out the identification positioning of image, obtains the shift value and differential seat angle of horizontal direction；
4) shift value for the horizontal direction that host computer positions image recognition and differential seat angle are given snakelike through wireless data sending
Robot controller；
5) snake-shaped robot controller receive control instruction, by motor drive module control the first wheel of motor driven,
Second wheel and third wheel are mobile, while being controlled before snake-shaped robot after portion mechanism and snake-shaped robot by steering engine control panel
The moving direction of the first steering engine, the second steering engine and third steering engine adjustment snake-shaped robot in portion mechanism；
6) whether host computer judges automatically to position and finish, otherwise return step 4), it is then to enter next step；
7) snake-shaped robot controller, which is received, positions the signal that finishes from host computer, controls first steering engine, the
Two steering engines and third steering engine adjustment snake-shaped robot arch upward；
8) relative distance between four-axle aircraft and snake-shaped robot binding site is fed back to snakelike machine by ultrasonic module
Device people's controller；
9) snake-shaped robot controller judge the distance of ultrasonic module feedback whether in setting range, otherwise return step
It 7), is then to enter next step；
10) combination finishes.
The host computer carries out the identification positioning of image, comprising:
(1) picture of acquisition is subjected to greyscale transformation, image noise reduction and equalization processing；
(2) to treated, picture uses Canny operator to carry out edge detection；
(3) due to being influenced by snake-shaped robot structure, edge contour that edge detection link environment complex extraction arrives
Compare more, need to screen the profile of extraction according to the feature of objective contour, using the area of objective contour, perimeter as sieve
The condition of choosing selects the profile being consistent with the area of objective contour, perimeter；
(4) center point coordinate and rotation angle of the profile selected are calculated using image moment；
(5) it is matched with the image template of storage, obtains the shift value and differential seat angle of horizontal direction.
Greyscale transformation described in (1) step is using one of following three kinds of modes:
(1.1) greyscale transformation is carried out by seeking the maximum value of each color component in target image,
F (x, y)=max (R (x, y), G (x, y), B (x, y)) (1)
Wherein, f is the two-dimensional matrix of gray level image；R, G, B are respectively the two-dimensional matrix of the triple channel of original image；X is
The abscissa of original image, y are the ordinate of original image；
(1.2) mean value method
By asking the average value of whole color components of original image to carry out greyscale transformation
F (x, y)=/ 3 (2) (R (x, y), G (x, y), B (x, y))
(1.3) weighted mean method
Weighted mean method is on the basis of mean value method by flat to calculating again after the progress weight distribution of R, G, B triple channel
Mean value does greyscale transformation, and what is provided as follows is weight distribution formula:
F (x, y)=0.299*R (x, y), 0.587*G (x, y), 0.114*B (x, y) (3).
(4) step is the center point coordinate and rotation angle that the profile selected is calculated using low order image moment, comprising:
Single order geometric moment:
M1,0And M0,1It is the single order geometric moment of X-axis and Y-axis respectively, the center of gray level image is acquired by following formula:
PointIllustrate the geometric center of image；
Second order geometric moment:
Wherein,
Second order geometric moment contains direction and the size of image, and θ indicates the shape deflection of image；M2,0、M0,2And M1,1For
The second order geometric moment of gray level image.
One kind of the invention separates air-ground amphibious robot and separation combination control method, ground robot use volume
Smaller to move flexible multivariant bionical snake-shaped robot, solving can not carry out ground since traditional robot volume is larger
The reconnaissance activities of face small space；Air-robot uses traditional four-axle aircraft, has at low cost, easy to operate etc. excellent
Point；Ground robot and air-robot are used into separable structure, the two can be only after separation is realized in working site
It is vertical to scout, the weight of air-robot is alleviated, the cruising ability of airflight device, while but also ground machine are improved
People individually can flexibly work.Separation combination control method of the invention, ground robot and air-robot can be appropriate
When carry out separation combination automatically, positioning is inaccurate when solution is manipulated by manual remote control, and configuration does not meet flight mechanics spy when combination
The shortcomings that point.The present invention has complicated landform walking and airflight ability, can solve air-robot or the land of single type
Floor-washing robot running space is limited, investigates the problem of low efficiency, in rescue and relief work, geological disaster exploration, industrial accident tune
It looks into, the emergency investigation such as fight against terrorism and violence field has a wide range of applications.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for separating air-ground amphibious robot of the present invention；
Fig. 2 is the structural schematic diagram of snake-shaped robot in the present invention；
Fig. 3 is that the circuit of control section in the present invention constitutes block diagram；
Fig. 4 is the flow chart of combination control method in the present invention；
Fig. 5 is Image outline identification and the algorithm flow chart for calculating central point and angle；
Fig. 6 is framing flow chart.
In figure
1: four-axle aircraft 2: lower plate
3: 4: the first wheel of snake-shaped robot
5: the second wheels 6: third wheel
7: the first steering engine u-bracket, 8: the second steering engine u-bracket
9: support column 10: top plate
11: iron block 12: ultrasonic module
13: the first steering engines 14: third steering engine u-bracket
15: the second steering engine, 16: the four steering engine u-bracket
17: the five u-brackets 18: third steering engine
19: the six u-brackets 20: electromagnet
21: camera module 22: remote controler
23: four-axle aircraft remote control receiver 24: flight controller
25: relay 26: figure passes receiver
27: host computer 28: snake-shaped robot remote control receiver
29: snake-shaped robot controller 30: motor drive module
31: direct current generator 32: steering engine control panel
Specific embodiment
Air-ground amphibious robot and separation combination control are separated to one kind of the invention below with reference to embodiment and attached drawing
Method is described in detail.
As shown in Figure 1, one kind of the invention separates air-ground amphibious robot, including four-axle aircraft 1 and snakelike machine
People 3, and the snake-shaped robot 3 is by the electromagnet 20 on the lower end surface that is connected to the lower plate 2 of the four-axle aircraft 1
What can be separated and combine with the iron block 11 for being connected to 3 top of snake-shaped robot links together, wherein four axis flies
It is additionally provided on the lower end surface of the lower plate 2 of row device 1 for detecting taking the photograph for four-axle aircraft 1 and 3 relative position of snake-shaped robot
As head module 21, the top of the snake-shaped robot 3 be provided with for detect four-axle aircraft 1 and snake-shaped robot 3 it is opposite away from
From ultrasonic module 12.
As shown in Fig. 2, the snake-shaped robot 3 includes: structure it is identical and set gradually positioned at the first of front
Wheel 4, positioned at second wheel 5 at middle part and positioned at the third wheel 6 at rear portion, wherein on the chassis of second wheel 5 lead to
The the first steering engine u-bracket 7 and the second steering engine u-bracket 8 for crossing the opening upwards that front and back is arranged symmetrically are connected with snakelike machine
Before people after the root of portion mechanism and snake-shaped robot portion mechanism root, the end of portion mechanism is fixed before the snake-shaped robot connects
It connects on the chassis of first wheel 4, the end of portion mechanism is fixedly connected on the third wheel 6 after the snake-shaped robot
Chassis on, top plate 10, institute are provided with by the support column 9 being arranged on the angle of four ends above 5 chassis of the second wheel
The iron block 11 and ultrasonic wave module 12 stated are separately positioned on the top plate 10, are additionally provided on the top plate 10 for controlling snake
The control unit (not shown) of anthropomorphic robot 3, first wheel 4, the second wheel 5 and third wheel 6 are respectively arranged with
The direct current generator 31 being connected by conducting wire with the control unit.
The electromagnet 20 and iron block 11 is respectively set 2 or more, and is symmetrical arranged.
As shown in Fig. 2, portion mechanism is identical as the snake-shaped robot rear portion mechanism structure before the snake-shaped robot,
Include: the first steering engine 13 being connected in the U-type groove of the first steering engine u-bracket 7 or the second steering engine u-bracket 8, even
The third steering engine u-bracket 14 in first steering engine 13 far from 5 side of the second wheel is connect, it is U-shaped to be connected to the third steering engine
Second steering engine 15 of the bracket 14 far from 13 side of the first steering engine, it is U-shaped far from third steering engine to be connected to second steering engine 15 in turn
The 4th steering engine u-bracket 16 and the 5th u-bracket 17 of 14 side of bracket are connected in the groove of the 5th u-bracket 17
Third steering engine 18, the third steering engine 18 are connected to the bottom of first wheel 4 or third wheel 6 by the 6th u-bracket 19
On plate, first steering engine 13, the second steering engine 15 and the control terminal of third steering engine 18 pass through conducting wire respectively and connect setting in top plate
Control unit on 10.
As shown in figure 3, the separation method for separating air-ground amphibious robot of the invention, when separating air-ground amphibious machine
After people lands, separation control is sent to flight controller 24 through four-axle aircraft remote control receiver 23 by remote controler 22 and is referred to
It enables, flight controller 24 controls the power supply that relay 25 disconnects electromagnet 20, and electromagnet 20 is separated with iron block 11, so that four axis fly
Row device 1 is separated with snake-shaped robot 3.
The flight controller 24 can be using APM flight controller or the flight control of Pixhawk flight controller or KK
Device or OpenPilot flight controller processed.
As shown in Figure 3, Figure 4, the combined method for separating air-ground amphibious robot of the invention, includes the following steps:
1) it is sent and is instructed to snake-shaped robot controller 29 through snake-shaped robot remote control receiver 29 by remote controler 22,
Snake-shaped robot 3 is set to move to 1 lower section of four-axle aircraft；
2) it is sent and is instructed to snake-shaped robot controller 29 through snake-shaped robot remote control receiver 29 by remote controler 22,
Adjustment 3 position of snake-shaped robot is until the camera module 21 being located on four-axle aircraft 1 can recognize snake-shaped robot 3
10 profile of top plate；
3) image information for 10 profile of the top plate that camera module 21 acquires is passed to upper by figure passes receiver 26
Machine 27, the host computer 27 carry out the identification positioning of image, obtain the shift value and differential seat angle of horizontal direction；As shown in figure 5, packet
It includes:
(1) picture of acquisition is subjected to greyscale transformation, image noise reduction and equalization processing；
The greyscale transformation is primarily to be transformed to list for the RGB color image of triple channel when performing image processing
The gray level image in channel, the information content for reducing image accelerate the arithmetic speed of computer, and the greyscale transformation is using as follows
One of three kinds of modes:
(1.1) greyscale transformation is carried out by seeking the maximum value of each color component in target image,
F (x, y)=max (R (x, y), G (x, y), B (x, y)) (1)
Wherein, f is the two-dimensional matrix of gray level image；R, G, B are respectively the two-dimensional matrix of the triple channel of original image；X is
The abscissa of original image, y are the ordinate of original image；
(1.2) mean value method
By asking the average value of whole color components of original image to carry out greyscale transformation
F (x, y)=/ 3 (2) (R (x, y), G (x, y), B (x, y))
(1.3) weighted mean method
Weighted mean method is on the basis of mean value method by flat to calculating again after the progress weight distribution of R, G, B triple channel
Mean value does greyscale transformation, and what is provided as follows is weight distribution formula:
F (x, y)=0.299*R (x, y), 0.587*G (x, y), 0.114*B (x, y) (3)
The present invention is preferentially using weighted mean method.
(2) to treated, picture uses Canny operator to carry out edge detection；
(3) due to being influenced by 3 structure of snake-shaped robot, edge contour that edge detection link environment complex extraction arrives
Compare more, need to screen the profile of extraction according to the feature of objective contour, using the area of objective contour, perimeter as sieve
The condition of choosing selects the profile being consistent with the area of objective contour, perimeter；
(4) center point coordinate and rotation angle of the profile selected are calculated using image moment；
The main algorithm of framing has template matching and Hough transform.For the requirement of efficiency and system real time, warp
It crosses more of the invention using Hough transform searching target image profile and border progress framing.The basic thought of Hough transform
It is that the marginal point of image is connected into the closed boundary of profile by it using the duality between point and line.Hough arithmetic speed is fast,
Algorithm is simple and strong interference immunity meets requirement of the invention.,
Identifying and positioning for image is that key content line face of the invention will be described in detail the method for identifying and positioning.Such as Fig. 5
It is shown, the calculating of center point coordinate and angle is carried out to locating template first.Then to camera input each frame image into
The calculating that carries out of obtained center point coordinate and angle and template is found out X, the shift value of Y-direction and angle by the identical processing of row
It is poor to spend.Using the central point shift value and differential seat angle of calculating as return value.
The calculating of central point and angle is solved using image moment.The profile matrix of image by image some pixels
Point composition, includes the information such as profile perimeter, area, center point coordinate, principal direction to the image moment that its operation is found out.These information
With the characteristic that good translation rotation dimensional variation is constant.As shown in fig. 6, the present invention is selected using the calculating of low order image moment
Profile center point coordinate and rotation angle, comprising:
Single order geometric moment:
M1,0And M0,1It is the single order geometric moment of X-axis and Y-axis respectively, the center of gray level image is acquired by following formula:
PointIllustrate the geometric center of image；
Second order geometric moment:
Wherein,
Second order geometric moment contains direction and the size of image, and θ indicates the shape deflection of image；M2,0、M0,2And M1,1For
The second order geometric moment of gray level image.
(5) it is matched with the image template of storage, obtains the shift value and differential seat angle of horizontal direction.
4) shift value for the horizontal direction that host computer 27 positions image recognition and differential seat angle are through wireless data sending to snake
Anthropomorphic robot controller 29；
5) snake-shaped robot controller 29 receives control instruction, controls direct current generator 31 by motor drive module 30 and drives
First wheel 4, the second wheel 5 and third wheel 6 are mobile, while passing through portion mechanism before the control snake-shaped robot of steering engine control panel 32
The shifting of snake-shaped robot 3 is adjusted with the first steering engine 13, the second steering engine 15 and the third steering engine 18 after snake-shaped robot in portion mechanism
Dynamic direction；
6) whether host computer 27 judges automatically to position and finish, otherwise return step 4), it is then to enter next step；
7) snake-shaped robot controller 29, which is received, positions the signal finished from host computer, controls first steering engine
13, the second steering engine 15 and third steering engine 18 adjust snake-shaped robot 3 and arch upward；
8) relative distance between 3 binding site of four-axle aircraft 1 and snake-shaped robot is fed back to snake by ultrasonic module 12
Anthropomorphic robot controller 29；
9) whether the distance that snake-shaped robot controller 29 judges the feedback of ultrasonic module 12 otherwise returns to step in setting range
It is rapid 7), be then enter next step；
10) combination finishes.
In the embodiment of the present invention:
Camera module 21 and figure passes receiver 26 are that integrally figure passes camera using 5.8G FPV；
Snake-shaped robot controller 29 using STM32F103C8T6 core board or STM32F103ZET6 core board or
STM32F103RCT6 core board；
Steering engine control panel 32 uses the serial steering engine control panel of LOBOT；
Motor drive module 30 uses TB6612 motor drive module or L298N module；
Snake-shaped robot remote control receiver 28 and remote controler 22 and four-axle aircraft remote control receiver 23 use day
Ground flies or Le Di or this rich product；
Ultrasonic module 12 uses US-100 or HC-SR04 module；
Electromagnet 20 contains sucked type electromagnet using ancestor.
Claims (9)
1. one kind separates air-ground amphibious robot, including four-axle aircraft (1) and snake-shaped robot (3), which is characterized in that institute
The snake-shaped robot (3) stated is the electromagnet by being connected on the lower end surface of the lower plate of the four-axle aircraft (1) (2)
(20) and the iron block (11) that is connected at the top of the snake-shaped robot (3) linking together of can separating and combine, wherein institute
It states and is additionally provided on the lower end surface of the lower plate (2) of four-axle aircraft (1) for detecting four-axle aircraft (1) and snake-shaped robot
(3) camera module (21) of relative position is provided with for detecting four-axle aircraft at the top of the snake-shaped robot (3)
(1) with the ultrasonic module (12) of snake-shaped robot (3) relative distance.
2. according to claim 1 separate air-ground amphibious robot, which is characterized in that the snake-shaped robot (3)
Include: structure it is identical and set gradually the first wheel (4) positioned at front, the second wheel (5) positioned at middle part and be located at
The third wheel (6) at rear portion, wherein the first of the opening upwards being arranged on the chassis of second wheel (5) by front and back
Steering engine u-bracket (7) and the second steering engine u-bracket (8) are symmetrically connected with before snake-shaped robot the root of portion mechanism and snakelike
The root of portion mechanism after robot, the end of portion mechanism is fixedly connected on first wheel (4) before the snake-shaped robot
On chassis, the end of portion mechanism is fixedly connected on the chassis of the third wheel (6) after the snake-shaped robot, and described
It is provided with top plate (10) above two wheels (5) chassis by the support column (9) being arranged on the angle of four ends, the iron block (11)
It is separately positioned on the top plate (10) with ultrasonic wave module (12), is additionally provided on the top plate (10) for controlling snakelike machine
The control unit of device people (3), first wheel (4), the second wheel (5) and third wheel (6) are respectively arranged with and pass through conducting wire
The direct current generator (31) being connected with the control unit.
3. according to claim 1 separate air-ground amphibious robot, which is characterized in that the electromagnet (20) and iron
Block (11) is respectively set 2 or more, and is symmetrical arranged.
4. according to claim 2 separate air-ground amphibious robot, which is characterized in that the snake-shaped robot front
Mechanism is identical as the snake-shaped robot rear portion mechanism structure, includes: being connected to the first steering engine u-bracket (7)
Or second steering engine u-bracket (8) U-type groove in the first steering engine (13), be connected to first steering engine (13) far from the second vehicle
The third steering engine u-bracket (14) for taking turns (5) side is connected to the third steering engine u-bracket (14) far from the first steering engine (13)
The second steering engine (15) of side is connected to the of second steering engine (15) far from third steering engine u-bracket (14) side in turn
Four steering engine u-brackets (16) and the 5th u-bracket (17) are connected with third steering engine in the groove of the 5th u-bracket (17)
(18), the third steering engine (18) is connected to first wheel (4) or third wheel (6) by the 6th u-bracket (19)
On bottom plate, first steering engine (13), the second steering engine (15) and the control terminal of third steering engine (18), which pass through conducting wire respectively and connect, to be set
Set the control unit on top plate (10).
5. a kind of separation method described in claim 1 for separating air-ground amphibious robot, which is characterized in that when separable land
After empty amphibious robot lands, by remote controler (22) through four-axle aircraft remote control receiver (23) to flight controller (24)
Separates control instructions are sent, flight controller (24) controls the power supply that relay (25) disconnect electromagnet (26), electromagnet (26)
It is separated with iron block (11), so that four-axle aircraft (1) is separated with snake-shaped robot (3).
6. a kind of combined method described in claim 1 for separating air-ground amphibious robot, which is characterized in that including walking as follows
It is rapid:
1) it is sent and is referred to snake-shaped robot controller (29) through snake-shaped robot remote control receiver (29) by remote controler (22)
It enables, moves to snake-shaped robot (3) below four-axle aircraft (1)；
2) it is sent and is referred to snake-shaped robot controller (29) through snake-shaped robot remote control receiver (29) by remote controler (22)
Enable, adjustment snake-shaped robot (3) position until be located at four-axle aircraft (1) on camera module (21) can recognize it is snakelike
Top plate (10) profile of robot (3)；
3) image information of the top plate (10) profile of camera module (21) acquisition is passed to by figure passes receiver (26)
Position machine (27), the host computer (27) carry out the identification positioning of image, obtain the shift value and differential seat angle of horizontal direction；
4) shift value for the horizontal direction that host computer (27) positions image recognition and differential seat angle are given snakelike through wireless data sending
Robot controller (29)；
5) snake-shaped robot controller (29) receives control instruction, is driven by motor drive module (30) control direct current generator (31)
Dynamic first wheel (4), the second wheel (5) and third wheel (6) are mobile, while controlling snakelike machine by steering engine control panel (34)
The first steering engine (13), the second steering engine (15) and third steering engine (18) adjustment before people after portion mechanism and snake-shaped robot in portion mechanism
The moving direction of snake-shaped robot (3)；
6) whether host computer (27) judges automatically to position and finish, otherwise return step 4), it is then to enter next step；
7) snake-shaped robot controller (29), which is received, positions the signal finished from host computer, controls first steering engine
(13), the second steering engine (15) and third steering engine (18) adjustment snake-shaped robot (3) are arched upward；
8) ultrasonic module (12) feeds back to the relative distance between four-axle aircraft (1) and snake-shaped robot (3) binding site
Snake-shaped robot controller (29)；
9) whether the distance that snake-shaped robot controller (29) judges ultrasonic module (12) feedback otherwise returns to step in setting range
It is rapid 7), be then enter next step；
10) combination finishes.
7. the combined method according to claim 6 for separating air-ground amphibious robot, which is characterized in that step 3) is described
Host computer (27) carry out image identification positioning, comprising:
(1) picture of acquisition is subjected to greyscale transformation, image noise reduction and equalization processing；
(2) to treated, picture uses Canny operator to carry out edge detection；
(3) due to being influenced by snake-shaped robot (3) structure, the edge contour ratio that edge detection link environment complex extraction arrives
It is more, it needs to screen the profile of extraction according to the feature of objective contour, using the area of objective contour, perimeter as screening
Condition, select the profile being consistent with the area of objective contour, perimeter；
(4) center point coordinate and rotation angle of the profile selected are calculated using image moment；
(5) it is matched with the image template of storage, obtains the shift value and differential seat angle of horizontal direction.
8. the combined method according to claim 7 for separating air-ground amphibious robot, which is characterized in that (1) step institute
The greyscale transformation stated is using one of following three kinds of modes:
(1.1) greyscale transformation is carried out by seeking the maximum value of each color component in target image,
F (x, y)=max (R (x, y), G (x, y), B (x, y)) (1)
Wherein, f is the two-dimensional matrix of gray level image；R, G, B are respectively the two-dimensional matrix of the triple channel of original image；X is original
The abscissa of image, y are the ordinate of original image；
(1.2) mean value method
By asking the average value of whole color components of original image to carry out greyscale transformation
F (x, y)=/ 3 (2) (R (x, y), G (x, y), B (x, y))
(1.3) weighted mean method
Weighted mean method is on the basis of mean value method by calculating average value again after carrying out weight distribution to R, G, B triple channel
Do greyscale transformation, what is provided as follows is weight distribution formula:
F (x, y)=0.299*R (x, y), 0.587*G (x, y), 0.114*B (x, y) (3).
9. the combined method according to claim 7 for separating air-ground amphibious robot, which is characterized in that (4) step is
The center point coordinate and rotation angle of the profile selected are calculated using low order image moment, comprising:
Single order geometric moment:
M1,0And M0,1It is the single order geometric moment of X-axis and Y-axis respectively, the center of gray level image is acquired by following formula:
PointIllustrate the geometric center of image；
Second order geometric moment:
Wherein,
Second order geometric moment contains direction and the size of image, and θ indicates the shape deflection of image；M2,0、M0,2And M1,1For gray scale
The second order geometric moment of image.
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