CN110362118A - The aerial underwater multirobot in sea remotely three-dimensional cooperative control system and its control method - Google Patents
The aerial underwater multirobot in sea remotely three-dimensional cooperative control system and its control method Download PDFInfo
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- CN110362118A CN110362118A CN201910611063.3A CN201910611063A CN110362118A CN 110362118 A CN110362118 A CN 110362118A CN 201910611063 A CN201910611063 A CN 201910611063A CN 110362118 A CN110362118 A CN 110362118A
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Abstract
The invention discloses a kind of aerial underwater multirobot in sea, remotely three-dimensional cooperative control system and its control method, the system include air-robot, sea robot and underwater robot；The air-robot includes air-robot environmental perception module, air-robot data acquisition module, air-robot remote control module；The sea robot includes sea robot environment's sensing module, sea robot data collection module, sea robot remote control module and Collaborative Control module；The underwater robot includes underwater robot environmental perception module, underwater robot data acquisition module, underwater robot remote control module.The system integration of the invention air-robot, sea robot and underwater robot realize each robot and the control of land host remote and information transmission using long-range control, realize collaboration efficient operation.
Description
Technical field
The technical field of ocean robot of the present invention, and in particular to a kind of aerial underwater multirobot in sea is long-range
Three-dimensional cooperative control system and its control method.
Background technique
Currently, with the rapid development of our country's economy, scientific and technological development and progress, single aerial space or sea are empty
Between or seabed space be no longer able to satisfy the application of the every aspect in the Science Explorations and daily life of people, whether
Sky, sea or seabed, mankind's activity is more and more frequent, and the more complicated diversification in scene scene has various function
The robot of energy comes into being, they replace the mankind to play diversified role in production and living various aspects, for society
It is convenient to provide, and makes the safety of people more secure.For now, the robot of simple function has slowly been dissolved into respectively
In each industry of row, for increasingly intelligentized today, simple function robot be cannot meet the needs in same system, association
Homologous ray has become an important directions of control field, multiple machines because having all well and good adaptability and autonomy
The system that people is constituted is a critically important branch of its application.
Existing sea robot exists following insufficient: (1) conventional unmanned plane, unmanned boat, the work of unmanned boat class robot
Range is limited, and the working region that can be reached can only be only limitted in the air, sea or underwater, not can be carried out good track and is chased after
Track, the task of the types such as track up；(2) multirobot passes through terminal each section due to the limitation of above-mentioned each working environment
Individually control, cannot good information interchange, or will appear information transmission processing delay, cause unnecessary loss；(3) often
Rule simple function robot at sea suffers from Mobile message switch platform, such as the Attitudes such as someone's ship, communication distance
Be not it is far, using mobile network or radio communication (such as CDMA, GPRS, 4G), but due to using long-range control, do not have
Such condition, is limited by communication distance, and this communication modes cannot be used for the data communication in far-reaching sea；(4) conventional nothing
Man-machine, unmanned boat, unmanned boat class robot power problems are a difficult points, and maritime environment is complicated, it is difficult to manually charge after recycling.
In conclusion the robot field in terms of due to applying Yu Haiyang at this stage, application mode is more single, can only be complete
At single item underwater operation, sea work or aerial work, used in various robots controls it is too cumbersome,
Various Functions need several controlling terminals to be combined with work, and the harmony between constituent parts is very poor, for completing the institute of work
The manpower and material resources and working efficiency to be consumed will have a greatly reduced quality, therefore, it is necessary to design a kind of ocean in terms of multirobot association
Same control system.
Summary of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned background technique, and provide a kind of underwater multirobot in aerial sea
Long-range solid cooperative control system and its control method, the system integration air-robot, sea robot and underwater machine
Device people realizes that each robot and land host remote control and information is transmitted using long-range control, realizes collaboration efficient operation.
To achieve the above object, the present invention provides a kind of underwater multirobot in aerial sea remotely three-dimensional Collaborative Control system
System, including air-robot, sea robot and underwater robot；
The air-robot includes air-robot environmental perception module, air-robot data acquisition module, aerial
Robot remote control module, the signal output end and air-robot data of the air-robot environmental perception module acquire
The signal input part of module connects, and the output end and air-robot of the air-robot data acquisition module remotely control mould
The data input pin of block connects；
The sea robot includes sea robot environment's sensing module, sea robot data collection module, sea
Robot remote control module and Collaborative Control module, the signal output end of the sea robot environment sensing module and sea
The signal input part of face robot data collection module connects, the data-signal output of the sea robot data collection module
End is connect with the data input pin of sea robot remote control module；
The underwater robot includes underwater robot environmental perception module, underwater robot data acquisition module, underwater
Robot remote control module, the signal output end and underwater personal data of the underwater robot environmental perception module acquire
The data input pin of module connects, and the data output end of the underwater robot data acquisition module is remotely controlled with underwater robot
The signal input part of molding block connects；
The signal transmission end of the Collaborative Control module respectively with air-robot remote control module, sea robot ring
The signal transmission end connection of border sensing module, underwater robot remote control module.
It further include land long-range monitoring host in above-mentioned technical proposal, the signal transmission of the land long-range monitoring host
End is connect by satellite with the signal transmission end of Collaborative Control module.
In above-mentioned technical proposal, the sea robot further includes solar powered module, the solar powered module
Electricity output end connect respectively with the electrical input of air-robot, underwater robot.
In above-mentioned technical proposal, the sea robot further includes release recycling module, the control of the release recycling module
Signal input part processed is connect with the control signal output of Collaborative Control module.
It is the air-robot environmental perception module, sea robot environment's sensing module, underwater in above-mentioned technical proposal
Robot environment's sensing module is made of camera unit and sonar unit.
In above-mentioned technical proposal, the air-robot data acquisition module is by air-robot microprocessor, movement
Manage sensor unit and electronic compass unit composition；The sea robot data collection module is by motion sensor list
Member, electronic compass unit composition；The underwater robot data acquisition module is passed by underwater robot microprocessor, motion process
Sensor cell, electronic compass unit composition.
It is the air-robot remote control module, sea robot remote control module, underwater in above-mentioned technical proposal
Robot remote control module is made of wireless transparent transmission unit, satellite communication unit.
In above-mentioned technical proposal, the solar powered module is by solar panel, battery group and inverter group
At.
In above-mentioned technical proposal, the release recycling module is made of two groups of servo motors and handgrip, the servo motor
Control signal output and handgrip control signal input connect.
The present invention also provides a kind of controls of the long-range three-dimensional cooperative control system of above-mentioned underwater multirobot in aerial sea
Method includes the following steps:
1) underwater three robot in aerial sea receives assignment instructions: air-robot, sea robot in standby and
What underwater robot received that land long-range monitoring host sends goes to certain region to scan for chasing after to the object for having certain feature
Track shoots task, and activation release recycling module drives two groups of servo motors, opens handgrip release air-robot and underwater
People, determine air-robot, sea robot and three robots of underwater robot it is common before go to execute the task；
2) the underwater three robot perceptions environmental information in aerial sea: air-robot, sea robot and underwater
People moves to specified region, by carrying out the acquisition of environmental information, and the area that will acquire by respective environmental perception module
The environmental information in domain gives Collaborative Control module by respective remote control module in real time, for its judgement and decision；
3) Collaborative Control module judges whether the region occurs meeting the object of target signature: Collaborative Control module according to
What the environmental information that each robot uploads judged whether the region occur referring in host transmission task meets target signature
Target object, if object does not occur, Ze Ge robot is continued searching；If object occurs, returns to target and information occur；
4) each robot of Collaborative Control module autocommand is with going to target: processing air-robot, sea robot, with
And the environmental information and coordinate information related data of three robots of underwater robot feedback, it is automatic to establish to object full angle
Three-dimensional tracking and shooting model, the purpose seat that triangle formation to be gone to needed for track up will be put by generating each robot
Mark, voluntarily sending the coordinates to each robotic command, it goes to；
5) robot reaches purpose coordinate expansion track up task: air-robot, sea robot and underwater machine
Device people persistently receives the coordinate information constantly corrected, and expansion tracing type Trinity full-angle synchronous is shot, and simultaneously by coordinate
Land long-range monitoring host is returned to captured content；
6) whether have robot not enough power supply: air-robot, sea robot and underwater robot are produced in acquisition
While raw information, each robot remaining capacity information is also transmitted, if certain robot electric quantity is insufficient, Collaborative Control module is led to
It crosses in its return sea robot of corresponding remote control module order and charges；
7) robot returns to charging: Collaborative Control module persistently confirms each robot coordinate position, in the robot of arrival
Before in place, activation release recycling module drives corresponding servo motor, opens corresponding handgrip, in place in the robot of arrival
After close handgrip, it is therefore an objective to air-robot or underwater robot stationary machines people are fixed on sea robot hull, really
Protect going on smoothly for charging process；
8) robot charging complete: when certain robot charging complete, return information gives Collaborative Control module, checks current
Whether there is carrying out again for task, if nothing, do not send the robot, if so, activation release recycling module, drives corresponding servo
Motor opens corresponding handgrip, discharges corresponding robot, meanwhile, the Collaborative Control module command robot goes to coordinates of targets；
9) whether robot receives task END instruction: if air-robot, sea robot and underwater robot
Three robots receive the task END instruction sent from land long-range monitoring host, terminate to track shooting task at once, empty
Middle robot and underwater robot return in the robot of sea and recycle charging, and task is completed.
Compared with prior art, the present invention has the advantage that
First, remotely three-dimensional cooperative control system is integrated with aerial machine to the underwater multirobot in aerial sea of the invention
People, sea robot and underwater robot using long-range control and realize each robot and land host by satellite communication
Long-range control and information are transmitted, here mainly land long-range monitoring host three-dimensional association long-range to the underwater multirobot in aerial sea
With the extension set remote control of control system and from the underwater multirobot in aerial sea, remotely three-dimensional cooperative control system extracts data
It is back to the process of land long-range monitoring host, the data of extraction include the environmental information of the underwater three robots feedback in aerial sea
And coordinate information, to established automatically to object multi-angle three-dimensional tracking and the obtained location information of camera system and video
File.
Second, air-robot of the invention has man-machine instead of tradition, the safety coefficient of personnel is improved, it is no longer necessary to
Special runway, effectively reduces construction cost, and the recycling that can take off on the robot platform of sea effectively reduces construction
Use cost, mobility and flexibility are effectively obtained raising.
Third, sea robot of the invention is instead of traditional someone's ship, it is no longer necessary to consider the living needs of personnel,
Body size is controlled, and is more added the flexibility of sea robot, is effectively reduced construction cost.
Fourth, underwater robot of the invention improves the safety coefficient of personnel instead of someone's submersible, greatly drop
The demand of low supply, body size are controlled, and mobility and flexibility are improved, and effectively reduce construction cost.
It is overhauled fifth, system of the invention avoids the artificial everyday devices to each robot of the system, reduces dimension
Cost is protected, more clean solar power generation is used, reduces cost of labor, expand the selection of usage scenario.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea of the invention；
Fig. 2 is the enlarged structure schematic diagram of air-robot in Fig. 1；
Fig. 3 is the enlarged structure schematic diagram of the sea Tu1Zhong robot；
Fig. 4 is the enlarged structure schematic diagram of underwater robot in Fig. 1；
In figure, the land long-range monitoring host of 1- air-robot, the sea 2- robot, 3- underwater robot, 4-, 5- are defended
Star, 6- air-robot environmental perception module, 7- air-robot data acquisition module, 8- air-robot remotely control mould
Block, the sea 9- robot environment's sensing module, the sea 10- robot data collection module, the sea 11- robot remote control mould
Block, 12- underwater robot environmental perception module, 13- underwater robot data acquisition module, 14- underwater robot remotely control
Module, 15- Collaborative Control module, 16- solar powered module, 17- discharge recycling module.
Specific embodiment
Below with reference to the embodiment performance that the present invention will be described in detail, but they and do not constitute a limitation of the invention,
It is only for example.Simultaneously by illustrating that advantages of the present invention will become clearer and be readily appreciated that.
A kind of underwater multirobot in aerial sea remotely three-dimensional cooperative control system, including air-robot 1, sea machine
People 2, underwater robot 3 and land long-range monitoring host 4；The air-robot 1 includes air-robot environment sensing mould
Block 6, air-robot data acquisition module 7, air-robot remote control module 8；The air-robot environment sensing mould
The signal output end of block 6 is connect with the signal input part of air-robot data acquisition module 7, and the air-robot data are adopted
The output end of collection module 7 is connect with the data input pin of air-robot remote control module 8；
The sea robot 2 include sea robot environment sensing module 9, sea robot data collection module 10,
Sea robot remote control module 11 and Collaborative Control module 15, solar powered module 16 and release recycling module
17, the signal output end of the sea robot environment sensing module 9 and the signal of sea robot data collection module 10 are defeated
Enter end connection, the data signal output and sea robot remote control module of the sea robot data collection module 10
11 data input pin connection；The electricity output end of the solar powered module 16 respectively with air-robot 1, underwater robot
3 electrical input connection；The control signal input of the release recycling module 17 and the control signal of Collaborative Control module 15
Output end connection.
The underwater robot 3 include underwater robot environmental perception module 12, underwater robot data acquisition module 13,
Underwater robot remote control module 14, the signal output end and underwater robot of the underwater robot environmental perception module 12
The data input pin of data acquisition module 13 connects, the data output end of the underwater robot data acquisition module 13 and underwater
The signal input part of robot remote control module 14 connects；The signal transmission end of the Collaborative Control module 15 is respectively and in the air
The signal biography of robot remote control module 8, sea robot environment's sensing module 9, underwater robot remote control module 14
Defeated end connection, the signal transmission end of the land long-range monitoring host 4 are transmitted by satellite 5 and the signal of Collaborative Control module 15
End connection.
In above-mentioned technical proposal, the air-robot environmental perception module 6, sea robot environment's sensing module 9, water
Lower robot environment's sensing module 12 is made of camera unit, sonar unit.Major function is air-robot 1 for feeling
Know air environment situation, the air-robot microprocessor positioned at air-robot data acquisition module 7 is by controlling aerial machine
Sonar unit transmitting-receiving ultrasonic wave in device people environmental perception module 6 determines Obstacle Position and distance and relevant information is passed through sky
The unlimited transparent transmission unit of middle robot remote control module 8 is sent to sea robot 2, and sea robot 2 passes through sea machine
The unlimited transparent transmission unit of people's remote control module 11 receives the information that air-robot 1 sends over, and is sent into Collaborative Control module
15, the sea robot microprocessor of Collaborative Control module 15 generates control instruction by processing related data and passes through sea machine
The unlimited transparent transmission unit of people's remote control module 11 is sent to air-robot 1 and hides flying bird etc. to control air-robot 1
Barrier is located at the air-robot microprocessor of air-robot data acquisition module 7 if including shooting instruction in order
Pass through the camera unit recorded video in control air-robot environmental perception module 6, the video recorded machine in the sky
Feature extraction directly is carried out to taken picture in the air-robot microprocessor of personal data acquisition module 7, if picture
Inside there is object then to report this information to the Collaborative Control module 15 of sea robot 2.Underwater robot 3 is for perceiving water
Lower ambient conditions, the underwater robot microprocessor positioned at underwater robot data acquisition module 13 pass through control underwater robot
Sonar unit transmitting-receiving ultrasonic wave in environmental perception module 12 determines Obstacle Position and distance and passes through relevant information underwater
The unlimited transparent transmission unit of robot remote control module 14 is sent to sea robot 2, and sea robot 2 passes through sea robot
The unlimited transparent transmission unit of remote control module 11 receives the information that underwater robot 3 sends over, and is sent into Collaborative Control module 15,
The sea robot microprocessor of Collaborative Control module 15 generates control instruction by processing related data and passes through sea robot
The unlimited transparent transmission unit of remote control module 11 is sent to underwater robot 3 to control underwater robot 3 and hide the barrier such as shoal of fish
Hinder object, the underwater robot microprocessor that underwater robot data acquisition module 13 is located at if including shooting instruction in order is logical
Cross the camera unit recorded video in control underwater robot environmental perception module 12, the video recorded robot under water
Feature extraction directly is carried out to taken picture in the underwater robot microprocessor of data acquisition module 13, if in picture
There is object then to report this information to the Collaborative Control module 15 of sea robot 2.Sea robot 2 is for perceiving sea
Ambient conditions, the sea robot microprocessor positioned at Collaborative Control module 15 pass through control sea robot environment sensing module
In 9 sonar unit transmitting-receiving ultrasonic wave determine Obstacle Position and apart from obtain relevant information and handle generate control instruction to
The barriers such as floating material reef are hidden by control sea robot 2, directly control sea machine if including shooting instruction in order
The camera unit recorded video of people's environmental perception module 9, Collaborative Control module 15 of the video recorded in sea robot 2
Sea robot microcontroller in feature extraction directly is carried out to taken picture, remember if occurring object in picture
It records this information and the photographing information of other robots feedback and each robot coordinate information is combined to be established automatically to object full-shape
Three-dimensional tracking and shooting model are spent, and order is assigned to each robot by the wireless transparent transmission unit of remote control module.
In above-mentioned technical proposal, the air-robot data acquisition module 7 is by air-robot microprocessor, movement
Sensor unit, electronic compass unit composition are managed, using micro- place's device Samsung S3C6410, attitude transducer selects integration 9
Axis combined sensor GY-86 module is integrated with three-axle magnetic field meter, three-axis gyroscope, three axis accelerometer, the corresponding core used
Piece is respectively MPU6050, magnetometer HMC5883L, and the function of realization is mainly situated in air-robot data acquisition module 7
Air-robot microprocessor directly controls motion sensor in air-robot data acquisition module 7, electronic compass
The posture information for collecting air-robot, is sent to sea by the unlimited transparent transmission unit of air-robot remote control module 8
Robot 2, sea robot 2 receive air-robot 1 by the unlimited transparent transmission unit of sea robot remote control module 11
The information sended over, is sent into Collaborative Control module 15, and the sea robot microprocessor of Collaborative Control module 15 passes through processing
Related data generates control instruction and is sent to aerial machine by the unlimited transparent transmission unit of sea robot remote control module 11
People 1 is to carry out gesture stability to air-robot 1.Sea robot data collection module 10, by motion sensor list
Member, electronic compass unit composition select 9 axis combined sensor GY-86 modules of integration using attitude transducer, are integrated with three axis
Magnetometer, three-axis gyroscope, three axis accelerometer, the corresponding chip used is respectively MPU6050, magnetometer HMC5883L.It is real
Existing function is mainly situated in the sea robot microcontroller of Collaborative Control module 15, controls sea robot data collection mould
Motion sensor, electronic compass in block 10 collect the posture information of sea robot, directly return to Collaborative Control mould
The sea robot microcontroller of block 15 is generated by processing related data and carries out gesture stability to sea robot 2.Underwater machine
Device personal data acquisition module 13 is made of underwater robot microprocessor, motion sensor unit, electronic compass unit, is adopted
With micro- place's device Samsung S3C6410, attitude transducer selects 9 axis combined sensor GY-86 modules of integration, is integrated with three
Axis magnetometer, three-axis gyroscope, three axis accelerometer, the corresponding chip used is respectively MPU6050, magnetometer HMC5883L.
The underwater robot microprocessor that the function of realization is mainly situated in underwater robot data acquisition module 13 directly controls under water
Motion sensor, electronic compass in robot data collection module 13 collect the posture information of air-robot, pass through
The unlimited transparent transmission unit of underwater robot remote control module 14 is sent to sea robot 2, and sea robot 2 passes through sea machine
The unlimited transparent transmission unit of device people remote control module 11 receives the information that underwater robot 3 sends over, and is sent into Collaborative Control mould
Block 15, the sea robot microprocessor of Collaborative Control module 15 generate control instruction by processing related data and pass through sea machine
The unlimited transparent transmission unit of device people remote control module 11 is sent to underwater robot 3 to carry out posture control to underwater robot 1
System.
In above-mentioned technical proposal, the air-robot remote control module 8, sea robot remote control module 11,
Underwater robot remote control module 14 is made of wireless transparent transmission unit, satellite communication unit, concrete model NRF24L01,
EXPLORE 700.Order of the wireless transparent transmission unit between air-robot 1, sea robot 2, underwater robot 3 is assigned
It is uploaded with data.Satellite communication unit is used to air-robot 1, sea robot 2, underwater robot 3 accessing network difference
It is communicated by satellite communication and long-range monitoring host 5, is to have GPS positioning function there are one important function.Each robot is logical
It crosses satellite communication unit and receives the order of long-range monitoring host 5, and upload the information such as positioning and captured video, here mainly
Land long-range monitoring host 4 to the underwater multirobot in aerial sea remotely three-dimensional cooperative control system extension set remote control with
And remotely three-dimensional cooperative control system extracts data back to land long-range monitoring host 4 from the underwater multirobot in aerial sea,
And each robot is realized by satellite and is positioned.The satellite 5 is the Satellite Communication System of China's independent research, and advantage, which has, is
Capacity of uniting is big, equipment is laid with expense relative moderate, communication fee is low, signal real-time is good, confidentiality is high, has collection safe and reliable
It is stable at integrated feature.What the land long-range monitoring host 4 was made of the end PC.
In above-mentioned technical proposal, the Collaborative Control module 15 is made of sea robot microprocessor, and concrete model is
Samsung S3C6410.The function of Collaborative Control module 15 is mainly handled on air-robot 1 and underwater robot 3
Data information, the processing collected data information of sea robot itself of report, according to circumstances issue an order to each robot, and
Carry the controlling each robot and satellite communication of the task.
In above-mentioned technical proposal, the release recycling module 17 is by the machinery that connects on two groups of servo motors and servo motor
Core handgrip composition flexible, the control signal output of the servo motor and the control signal input of handgrip connect.Release
The function of recycling module 17 be for recycle air-robot 1 and underwater robot 3 in no task or not enough power supply return
Fixed use is grabbed when the robot of sea.Concrete model is servo motor MSMA022T2U2.
In above-mentioned technical proposal, the solar powered module 16 is by solar panel, battery group and inverter
It constitutes, concrete model GHGN-150WDJBZ, GHGN-120AH, GHGN-YM300W.The function of solar powered module 16 is
Solar panel acquisition solar energy is simultaneously translated into electric energy, and battery group stores electric energy, inverter and solar panel
It is connected with battery group, the power storage that the solar panels are converted to the battery group, since maritime environment is moist,
Each robot all uses water-proof type independent design, and common charging modes are not all right, and battery group had both carry to be supplied to sea robot 2
Outside the task of electricity, after release recycling module recycling air-robot 1 or underwater robot 3 or the two, annexs and pass through
The mode of wireless charging is the task of the two power supply.
The control method of the long-range three-dimensional cooperative control system of the above-mentioned aerial underwater multirobot in sea of the present invention, including it is as follows
Step:
1) underwater three robot in aerial sea receives assignment instructions: air-robot 1, sea robot 2 in standby, with
And underwater robot 3 receive that land long-range monitoring host 4 sends go to certain region to search the object for having certain feature
Rope tracks shooting task, and activation release recycling module 17 drives two groups of servo motors, opens handgrip and discharge 1 He of air-robot
Underwater robot 3, determine air-robot 1, sea robot 2 and 3 three robots of underwater robot it is common before go to execute
The task；
2) the underwater three robot perceptions environmental information in aerial sea: air-robot 1, sea robot 2 and underwater machine
Device people 3 moves to specified region, and by carrying out the acquisition of environmental information by respective environmental perception module, and what be will acquire is somebody's turn to do
The environmental information in region gives Collaborative Control module 15 by respective remote control module in real time, for its judgement and decision；
3) Collaborative Control module 15 judges whether the region occurs meeting the object of target signature: Collaborative Control module root
Judge that whether the region occurred referring in host transmission task meets target signature according to the environmental information that each robot uploads
Target object, if object does not occur, Ze Ge robot is continued searching；If object occurs, returns to target and information occur；
4) each robot of 15 autocommand of Collaborative Control module is with going to target: processing air-robot 1, sea robot
2 and 3 three robots of underwater robot feedback environmental information and coordinate information related data, it is automatic to establish to object
Full-angle three-dimensional tracking and shooting model, the triangle formation mesh to be gone to needed for track up will be put by generating each robot
Coordinate, voluntarily sending the coordinates to each robotic command, it goes to；
5) robot reaches purpose coordinate and is unfolded track up task: air-robot 1, sea robot 2 and underwater
Robot 3 persistently receives the coordinate information constantly corrected, expansion tracing type Trinity full-angle synchronous shooting, and will sit simultaneously
Mark and captured content return to land long-range monitoring host 4；
6) whether have robot not enough power supply: air-robot 1, sea robot 2 and underwater robot 3 are acquiring
While generated information, each robot remaining capacity information is also transmitted, if certain robot electric quantity is insufficient, Collaborative Control module
15 in its return sea robot of corresponding remote control module order by charging；
7) robot returns to charging: Collaborative Control module 15 persistently confirms each robot coordinate position, in the machine of arrival
Before people is in place, activation release recycling module, drive corresponding servo motor, open corresponding handgrip, arrival robot just
Handgrip is closed behind position, it is therefore an objective to air-robot or underwater robot stationary machines people are fixed on sea robot hull,
Ensure going on smoothly for charging process；
8) robot charging complete: when certain robot charging complete, return information gives Collaborative Control module, checks current
Whether there is carrying out again for task, if nothing, do not send the robot, if so, activation release recycling module, drives corresponding servo
Motor opens corresponding handgrip, discharges corresponding robot, meanwhile, the Collaborative Control module command robot goes to coordinates of targets；
9) whether robot receives task END instruction: if air-robot 1, sea robot 2 and underwater
3 three robots of people receive the task END instruction sent from land long-range monitoring host 4, terminate tracking shooting at once and appoint
Business, air-robot 1 and underwater robot 3 return in sea robot 2 and recycle charging, and task is completed.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of long-range three-dimensional cooperative control system of underwater multirobot in aerial sea, it is characterised in that: including air-robot
(1), sea robot (2) and underwater robot (3)；
The air-robot (1) include air-robot environmental perception module (6), air-robot data acquisition module (7),
Air-robot remote control module (8)；The signal output end and aerial machine of the air-robot environmental perception module (6)
The signal input part of personal data acquisition module (7) connects, the output end of the air-robot data acquisition module (7) and aerial
The data input pin of robot remote control module (8) connects；
The sea robot (2) includes sea robot environment's sensing module (9), sea robot data collection module
(10), sea robot remote control module (11) and Collaborative Control module (15), the sea robot environment perceive mould
The signal output end of block (9) is connect with the signal input part of sea robot data collection module (10), the sea robot
The data signal output of data acquisition module (10) is connect with the data input pin of sea robot remote control module (11)；
The underwater robot (3) includes underwater robot environmental perception module (12), underwater robot data acquisition module
(13), underwater robot remote control module (14), the signal output end of the underwater robot environmental perception module (12) with
The data input pin of underwater robot data acquisition module (13) connects, the number of the underwater robot data acquisition module (13)
It is connect according to output end with the signal input part of underwater robot remote control module (14)；
The signal transmission end of the Collaborative Control module (15) respectively with air-robot remote control module (8), sea machine
People's environmental perception module (9), the connection of the signal transmission end of underwater robot remote control module (14).
2. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 1, it is characterised in that:
It further include land long-range monitoring host (4), the signal transmission end of the land long-range monitoring host (4) passes through satellite (5) and association
The signal transmission end of same control module (15) connects.
3. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 2, it is characterised in that:
The sea robot (2) further includes solar powered module (16), the electricity output end point of the solar powered module (16)
It is not connect with the electrical input of air-robot (1), underwater robot (3).
4. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 3, it is characterised in that:
The sea robot (2) further includes release recycling module (17), the control signal input of release recycling module (17)
It is connect with the control signal output of Collaborative Control module (15).
5. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 4, it is characterised in that:
The air-robot environmental perception module (6), sea robot environment's sensing module (9), underwater robot environment sensing mould
Block (12) is made of camera unit and sonar unit.
6. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 5, it is characterised in that:
The air-robot data acquisition module (7) is by air-robot microprocessor, motion sensor unit and electronics
Compass unit composition；The sea robot data collection module (10) is by motion sensor unit, electronic compass unit
Composition；The underwater robot data acquisition module (13) is by underwater robot microprocessor, motion sensor unit, electricity
Sub- compass unit composition.
7. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 6, it is characterised in that:
The air-robot remote control module (8), sea robot remote control module (11), underwater robot remotely control mould
Block (14) is made of wireless transparent transmission unit, satellite communication unit.
8. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 7, it is characterised in that:
The solar powered module (16) is made of solar panel, battery group and inverter.
9. the long-range three-dimensional cooperative control system of the underwater multirobot in aerial sea according to claim 8, it is characterised in that:
The release recycling module (17) is made of two groups of servo motors and handgrip, the control signal output of the servo motor with grab
The control signal input of hand connects.
10. a kind of long-range three-dimensional cooperative control system of aerial underwater multirobot in sea according to any one of claims 1 to 9
Control method, which comprises the steps of:
1) underwater three robot in aerial sea receives assignment instructions: air-robot (1), sea robot (2) in standby, with
And underwater robot (3) receive that land long-range monitoring host (4) sends go to certain region to the object for having certain feature into
Row search tracking shooting task, activation release recycling module (17) drive two groups of servo motors, open handgrip and discharge aerial machine
People (1) and underwater robot (3) determine (3) three air-robot (1), sea robot (2) and underwater robot machines
It goes to execute the task before device people is common；
2) the underwater three robot perceptions environmental information in aerial sea: air-robot (1), sea robot (2) and underwater machine
Device people (3) moves to specified region, by carrying out the acquisition of environmental information by respective environmental perception module, and will acquire
The environmental information in the region gives Collaborative Control module (15) by respective remote control module in real time, for its judgement and certainly
Plan；
3) Collaborative Control module (15) judges whether the region occurs meeting the object of target signature: Collaborative Control module according to
What the environmental information that each robot uploads judged whether the region occur referring in host transmission task meets target signature
Target object, if object does not occur, Ze Ge robot is continued searching；If object occurs, returns to target and information occur；
4) Collaborative Control module (15) each robot of autocommand is with going to target: processing air-robot (1), sea robot
(2) and the environmental information and coordinate information related data of (3) three robots of underwater robot feedback, automatic to establish to mesh
The tracking of object Full-angle three-dimensional and shooting model are marked, triangle formation needed for track up will be put into be gone to by generating each robot
Purpose coordinate, voluntarily sending the coordinates to each robotic command, it goes to；
5) robot reaches purpose coordinate and is unfolded track up task: air-robot (1), sea robot (2) and underwater
Robot (3) persistently receives the coordinate information constantly corrected, expansion tracing type Trinity full-angle synchronous shooting, and simultaneously will
Coordinate and captured content return to land long-range monitoring host (4)；
6) whether have robot not enough power supply: air-robot (1), sea robot (2) and underwater robot (3) are being adopted
While information caused by collecting, each robot remaining capacity information is also transmitted, if certain robot electric quantity is insufficient, Collaborative Control mould
Block (15) in its return sea robot of corresponding remote control module order then by charging；
7) robot returns to charging: Collaborative Control module (15) persistently confirms each robot coordinate position, in the robot of arrival
Before in place, activation release recycling module drives corresponding servo motor, opens corresponding handgrip, in place in the robot of arrival
After close handgrip, it is therefore an objective to air-robot or underwater robot stationary machines people are fixed on sea robot hull, really
Protect going on smoothly for charging process；
8) robot charging complete: when certain robot charging complete, return information gives Collaborative Control module, check it is current whether
There is carrying out again for task, if nothing, do not send the robot, if so, activation release recycling module, drives corresponding servo electricity
Machine opens corresponding handgrip, discharges corresponding robot, meanwhile, the Collaborative Control module command robot goes to coordinates of targets；
9) whether robot receives task END instruction: if air-robot (1), sea robot (2) and underwater
(3) three robots of people receive the task END instruction sent from land long-range monitoring host (4), terminate tracking shooting at once
Task, air-robot (1) and underwater robot (3) return on sea robot (2) and recycle charging, and task is completed.
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