CN112882477A - Control method and system for separable air-ground amphibious cooperative robot - Google Patents
Control method and system for separable air-ground amphibious cooperative robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention relates to the technical field of robots, in particular to a control method and a system of a separable air-ground amphibious cooperative robot, which comprises the following steps: the system comprises an unmanned aerial vehicle control system arranged on an unmanned aerial vehicle, a land robot control system arranged on a land robot and a remote control terminal, wherein an upper connection module is arranged at the bottom of the unmanned aerial vehicle, and a lower connection module is arranged at the top of the land robot; the remote control terminal is used for controlling the unmanned aerial vehicle to be in butt joint with or separated from the land robot, and the unmanned aerial vehicle control system is used for controlling the unmanned aerial vehicle to fly to the position of the land robot and controlling the upper connecting module to be in butt joint with the lower connecting module; and controlling the unmanned aerial vehicle to fly away from the land robot; the land robot control system is used for controlling the self-locking of the lower connecting module and the upper connecting module and controlling the separation of the lower connecting module and the upper connecting module.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a control method and a control system of a separable air-ground amphibious cooperative robot.
Background
In the prior art, peripheral detection of unmanned aerial vehicles and internal detection of indoor wheeled or legged land robots are performed. However, the conventional land robot using wheels or legs is difficult to rapidly reach the high building.
With the development of multi-land robot communication technology, a composite land robot can complete tasks which are difficult to complete by a single land robot. However, these land robots are often fixed together, and the stacking of the rigid and rigid equipment makes the land robots increasingly bulky, increasing the space requirement.
Disclosure of Invention
The invention aims to provide a control method and a control system of a separable air-ground amphibious cooperative robot, which are used for solving one or more technical problems in the prior art and at least provide a beneficial selection or creation condition.
In order to achieve the purpose, the invention provides the following technical scheme:
in one aspect, a control system of a separable air-ground amphibious cooperative robot is provided, and the control system includes: the system comprises an unmanned aerial vehicle control system arranged on an unmanned aerial vehicle, a land robot control system arranged on a land robot and a remote control terminal, wherein the remote control terminal is respectively in communication connection with the unmanned aerial vehicle control system and the land robot control system, an upper connection module is arranged at the bottom of the unmanned aerial vehicle, and a lower connection module is arranged at the top of the land robot;
the remote control terminal is used for respectively sending control commands to the unmanned aerial vehicle control system and the land robot control system so as to control the unmanned aerial vehicle to be in butt joint with or separated from the land robot, and the control commands comprise any one of combination commands or separation commands;
the unmanned aerial vehicle control system is used for responding to the combination command sent by the remote control terminal to control the unmanned aerial vehicle to fly to the position of the land robot and control the upper connecting module to be in butt joint with the lower connecting module; the unmanned aerial vehicle is controlled to fly away from the land robot in response to a separation command sent by the remote control terminal;
the land robot control system is used for responding to a combination command sent by the remote control terminal to control the self-locking of the lower connecting module and the upper connecting module; and the lower connecting module and the upper connecting module are controlled to be separated by responding to a separation command sent by the remote control terminal.
Further, the drone control system includes: the device comprises a first control module, a first image acquisition module, a second image acquisition module, a first inertia measurement unit, a first power supply module and a first power module;
the first control module is respectively and electrically connected with the first image acquisition module, the second image acquisition module, the first power supply module and the first power module, and the first power supply module is also connected with the first power module;
the first image acquisition module is used for acquiring image information right in front of the unmanned aerial vehicle, and the second image acquisition module is used for acquiring image information below the unmanned aerial vehicle;
the first control module is used for fusing the image data acquired by the first image acquisition module and IMU data measured by the first inertia measurement unit and controlling the unmanned aerial vehicle to perform autonomous navigation according to the result obtained by fusion;
and the system is used for determining the position of the docking self-locking mechanism according to the image data acquired by the second image acquisition module in the docking process of the unmanned aerial vehicle and the land robot, and controlling the operation of the unmanned aerial vehicle through the position of the docking self-locking mechanism so as to realize the docking of the unmanned aerial vehicle and the land robot.
Further, the land robot control system includes: the system comprises a second control module, a third image acquisition module, a second inertia measurement unit, a second power supply module and a second power module;
the second control module is respectively connected with the third image acquisition module, the second power supply module and the second power module, and the power supply module is also connected with the second power module;
the third image acquisition module is used for acquiring image information right in front of the land robot;
and the second control module is used for fusing the image data acquired by the third image acquisition module and the IMU data measured by the third inertial measurement unit and controlling the land robot to perform autonomous navigation according to the result obtained by fusion.
Furthermore, the first image acquisition module and the third image acquisition module are both stereo cameras, and the second image acquisition module is a monocular camera.
Further, the upper connecting module comprises a first sleeve, the lower connecting module comprises a second sleeve, a telescopic module and a motor, and the second sleeve can be sleeved in the first sleeve;
the cylinder wall of the second sleeve is provided with limiting holes, each limiting hole is provided with a rolling body, and an arc-shaped limiting groove matched with the rolling bodies is formed in the first sleeve;
the telescopic module is sleeved in the second sleeve, and the motor is fixedly arranged on the land robot and connected with the telescopic module;
the second control module is used for controlling the rotation of the motor so as to drive the telescopic module to slide up and down in the second sleeve; when the telescopic module slides upwards to enable the rolling bodies to be meshed with the limiting grooves, the unmanned aerial vehicle and the land robot are in butt joint and self-locked; when the telescopic module slides downwards to enable the rolling bodies to roll into the limiting holes, the unmanned aerial vehicle and the land robot are separated.
On the other hand, a control method of the separable air-ground amphibious cooperative robot is provided, and is applied to a control system of the separable air-ground amphibious cooperative robot, and the method includes the following steps:
step S101, the remote control terminal sends a combination instruction to the first control module and the second control module respectively;
step S102, the second control module responds to the combination instruction and controls the land robot to stop moving;
s103, the first control module responds to the combination instruction and controls the unmanned aerial vehicle to operate towards the direction of the land robot;
step S104, in the process of butting the unmanned aerial vehicle and the land robot, the first control module determines the relative positions of the upper connecting module and the lower connecting module according to the image data acquired by the second image acquisition module, and controls the unmanned aerial vehicle to run above the land robot through the relative positions;
s105, identifying a two-dimensional code mark arranged on the land robot by a third image acquisition module, and determining the position difference and the posture difference of a first sleeve and a second sleeve by a first control module according to the two-dimensional code mark;
s106, the first control module performs servo control on the unmanned aerial vehicle based on the position difference and the attitude difference by adopting a PID algorithm so as to control the unmanned aerial vehicle to land on the land robot;
and S107, the second control module controls the motor to drive the telescopic module to move upwards so as to push and press the rolling body to be meshed with the limiting groove, and the combination of the unmanned aerial vehicle and the land robot is completed.
Further, the method comprises the following steps:
step S201, the remote control terminal sends a separation instruction to the first control module and the second control module respectively;
step S202, the second control module controls the motor to drive the telescopic module to move downwards so as to separate the rolling body from the limiting groove;
and S203, the first control module responds to the separation instruction and controls the unmanned aerial vehicle to operate away from the land robot.
The invention has the beneficial effects that: the invention discloses a control method and a system of a separable air-ground amphibious cooperative robot, which realize flexible control of an unmanned aerial vehicle and a land robot by controlling self-locking or separation of a lower connecting module and an upper connecting module; the unmanned aerial vehicle and the land robot are generated through separation dispatch to realize independent control, the unmanned aerial vehicle and the land robot can independently acquire information, and the acquired information is shared through a remote control terminal; similarly, through last linking module and linking module butt joint down, close unmanned aerial vehicle and land robot and piece together as a whole, stability when can keep combining to make things convenient for land robot's autonomic recovery. In the embodiment provided by the invention, the unmanned aerial vehicle can quickly reach the position of a high floor, and can go deep into a narrow and small complex environment by being combined with a land robot. Through mutually supporting, the nimble deployment of unmanned aerial vehicle and land robot, more convenient and reliable carries out information detection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a control system of a separable air-ground amphibious cooperative robot in an embodiment of the invention;
fig. 2 is a schematic flow chart of a control method of the separable air-ground amphibious cooperative robot in the embodiment of the invention.
Detailed Description
The conception, specific structure and technical effects of the present application will be described clearly and completely with reference to the following embodiments and the accompanying drawings, so that the purpose, scheme and effects of the present application can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, a control system of a separable air-ground amphibious cooperative robot according to an embodiment of the present application is shown in fig. 1, and the control system includes: the system comprises an unmanned aerial vehicle control system arranged on an unmanned aerial vehicle, a land robot control system arranged on a land robot and a remote control terminal, wherein the remote control terminal is respectively in communication connection with the unmanned aerial vehicle control system and the land robot control system, an upper connection module is arranged at the bottom of the unmanned aerial vehicle, and a lower connection module is arranged at the top of the land robot;
the remote control terminal is used for respectively sending control commands to the unmanned aerial vehicle control system and the land robot control system so as to control the unmanned aerial vehicle to be in butt joint with or separated from the land robot, and the control commands comprise any one of combination commands or separation commands;
the unmanned aerial vehicle control system is used for responding to the combination command sent by the remote control terminal to control the unmanned aerial vehicle to fly to the position of the land robot and control the upper connecting module to be in butt joint with the lower connecting module; the unmanned aerial vehicle is controlled to fly away from the land robot in response to a separation command sent by the remote control terminal;
the land robot control system is used for responding to a combination command sent by the remote control terminal to control the self-locking of the lower connecting module and the upper connecting module; and the lower connecting module and the upper connecting module are controlled to be separated by responding to a separation command sent by the remote control terminal.
In a specific embodiment, the remote control terminal is provided with a display, and the display is used for displaying the image information acquired by the first image acquisition module, the second image acquisition module and the third image acquisition module.
In the embodiment provided by the invention, the unmanned aerial vehicle and the land robot are generated by separation dispatch to realize independent control, the unmanned aerial vehicle and the land robot can independently carry out information acquisition, and the acquired information is shared by a remote control terminal; similarly, through last linking module and linking module butt joint down, close unmanned aerial vehicle and land robot and piece together as a whole, stability when can keep combining to make things convenient for land robot's autonomic recovery.
In a preferred embodiment, the unmanned aerial vehicle control system comprises: the device comprises a first control module, a first image acquisition module, a second image acquisition module, a first Inertial Measurement Unit (IMU), a first power supply module and a first power module;
the first control module is respectively and electrically connected with the first image acquisition module, the second image acquisition module, the first power supply module and the first power module, and the first power supply module is also connected with the first power module;
in this embodiment, the first power supply module supplies power to the first image acquisition module, the second image acquisition module and the first inertia measurement unit through the first control module; the first control module is a flight control module provided with a processor;
the first image acquisition module is used for acquiring image information right in front of the unmanned aerial vehicle, and the second image acquisition module is used for acquiring image information below the unmanned aerial vehicle;
the first control module is used for fusing the image data acquired by the first image acquisition module and IMU data measured by the first inertia measurement unit and controlling the unmanned aerial vehicle to perform autonomous navigation according to the result obtained by fusion;
and the system is used for determining the position of the docking self-locking mechanism according to the image data acquired by the second image acquisition module in the docking process of the unmanned aerial vehicle and the land robot, and controlling the operation of the unmanned aerial vehicle through the position of the docking self-locking mechanism so as to realize the docking of the unmanned aerial vehicle and the land robot.
In a preferred embodiment, the land robot control system comprises: the system comprises a second control module, a third image acquisition module, a second inertia measurement unit, a second power supply module and a second power module;
the second control module is respectively connected with the third image acquisition module, the second power supply module and the second power module, and the power supply module is also connected with the second power module;
in this embodiment, the power supply module supplies power to the third image acquisition module and the second inertia measurement unit through the first control module;
the third image acquisition module is used for acquiring image information right in front of the land robot;
and the second control module is used for fusing the image data acquired by the third image acquisition module and the IMU data measured by the third inertial measurement unit and controlling the land robot to perform autonomous navigation according to the result obtained by fusion.
Preferably, the first image acquisition module and the third image acquisition module are both stereo cameras, and the second image acquisition module is a monocular camera;
in a specific embodiment, the first image acquisition module is mounted on a bracket of the unmanned aerial vehicle body, the second image acquisition module is mounted on a chassis below the unmanned aerial vehicle body, and the third image acquisition module is mounted on a bracket of the land robot body; the first control module fuses image data acquired by the first image acquisition module and IMU data measured by the first inertia measurement unit to obtain corresponding data information, wherein the data information comprises the position of an unmanned aerial vehicle, the position of an obstacle and the like; the position of the unmanned aerial vehicle and the position of the obstacle are determined according to the result obtained by fusion, and the autonomous navigation of the unmanned aerial vehicle is realized through automatic obstacle avoidance and path planning; the second control module fuses image data acquired by the third image acquisition module and IMU data measured by a third inertial measurement unit to obtain corresponding data information, wherein the data information comprises the position of the land robot, the position of an obstacle and the like; therefore, the position of the land robot and the position of the obstacle are determined according to the result obtained by fusion, and the autonomous navigation of the land robot is realized through automatic obstacle avoidance and path planning.
In a preferred embodiment, the upper connection module comprises a first sleeve, the lower connection module comprises a second sleeve, a telescopic module and a motor, and the second sleeve can be sleeved in the first sleeve;
the cylinder wall of the second sleeve is provided with limiting holes, each limiting hole is provided with a rolling body, and an arc-shaped limiting groove matched with the rolling bodies is formed in the first sleeve;
the telescopic module is sleeved in the second sleeve, and the motor is fixedly arranged on the land robot and connected with the telescopic module;
the second control module is used for controlling the rotation of the motor so as to drive the telescopic module to slide up and down in the second sleeve; when the telescopic module slides upwards to enable the rolling bodies to be meshed with the limiting grooves, the unmanned aerial vehicle and the land robot are in butt joint and self-locked; when the telescopic module slides downwards to enable the rolling bodies to roll into the limiting holes, the unmanned aerial vehicle and the land robot are separated.
In a specific embodiment, the limiting holes are circular, and each limiting hole is provided with a metal round ball. It will be appreciated that in other embodiments, a different number of metal balls may be used for locking, or the shape of the position-limiting hole and the rolling element may be changed, for example, a rectangular position-limiting hole may be used, a disk may be used as the rolling element, etc. The invention adopts a pure mechanical structure, has a self-locking function and can keep the stability of combination when in combination.
In a preferred embodiment, the land robot adopts a four-foot structure, each foot has three degrees of freedom, the structure is simple, the flexibility of the land robot on the land is improved, and all-around complex motions such as straight movement, transverse movement, in-situ rotation, climbing on rugged ground and the like can be realized; in the combination process, the four-foot mechanism can be used as a mechanical claw to clamp articles in the flying process of the land robot. Unmanned aerial vehicle adopts four-axis structure, when having simplified unmanned aerial vehicle overall structure, can provide sufficient power.
Referring to fig. 2, as shown in fig. 2, a control method for a separable air-ground amphibious cooperative robot provided in an embodiment of the present application is applied to a control system for a separable air-ground amphibious cooperative robot in the above improved embodiment, where the method includes the following steps:
step S101, the remote control terminal sends a combination instruction to the first control module and the second control module respectively;
step S102, the second control module responds to the combination instruction and controls the land robot to stop moving;
s103, the first control module responds to the combination instruction and controls the unmanned aerial vehicle to operate towards the direction of the land robot;
step S104, in the process of butting the unmanned aerial vehicle and the land robot, the first control module determines the relative positions of the upper connecting module and the lower connecting module according to the image data acquired by the second image acquisition module, and controls the unmanned aerial vehicle to run above the land robot through the relative positions;
s105, identifying a two-dimensional code mark arranged on the land robot by a third image acquisition module, and determining the position difference and the posture difference of a first sleeve and a second sleeve by a first control module according to the two-dimensional code mark;
the two-dimensional code mark is positioned on one side of the lower connecting module, and the position difference and the attitude difference of the first sleeve and the second sleeve can be determined by calibrating the position difference and the attitude difference of the first sleeve and the two-dimensional code mark. The invention adopts a combination mode of visual servo control, estimates the current position difference and attitude difference between the unmanned aerial vehicle and the land robot by using the two-dimensional code marks on the land robot, and continuously adjusts the position difference and attitude difference between the unmanned aerial vehicle and the land robot by PID in the descending process to enable the error value to be 0.
S106, the first control module performs servo control on the unmanned aerial vehicle based on the position difference and the attitude difference by adopting a PID algorithm so as to control the unmanned aerial vehicle to land on the land robot;
and S107, the second control module controls the motor to drive the telescopic module to move upwards so as to push and press the rolling body to be meshed with the limiting groove, and the combination of the unmanned aerial vehicle and the land robot is completed.
In a preferred embodiment, the method further comprises the steps of:
step S201, the remote control terminal sends a separation instruction to the first control module and the second control module respectively;
step S202, the second control module controls the motor to drive the telescopic module to move downwards, and when the telescopic module slides downwards to a set position, the rotation of the motor is stopped;
and S203, the first control module responds to the separation instruction and controls the unmanned aerial vehicle to operate away from the land robot.
Specifically, when the unmanned aerial vehicle and the land robot start to be separated, the second control module controls the motor to start to rotate, and when the telescopic module is driven to slide downwards to a set position, the rotation of the motor is stopped; when the telescopic module slides downwards to a set position, the rolling bodies can completely enter the limiting holes of the lower connecting module; then, the first control module controls the unmanned aerial vehicle to rise upwards, so that the first sleeve is driven to move upwards relative to the second sleeve, the rolling bodies roll out from the limiting grooves of the upper connecting module under the action of component force in the horizontal direction of the limiting grooves, when the rolling bodies completely enter the limiting holes of the lower connecting module, the rolling bodies are completely separated from the limiting grooves, and the lower connecting module and the upper connecting module complete self-locking separation.
While the description of the present application has been made in considerable detail and with particular reference to a few illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed that the present application effectively covers the intended scope of the application by reference to the appended claims, which are interpreted in view of the broad potential of the prior art. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial changes from the present application, not presently foreseen, may nonetheless represent equivalents thereto.
Claims (7)
1. A control system of a separable air-ground amphibious cooperative robot, characterized in that the control system comprises: the system comprises an unmanned aerial vehicle control system arranged on an unmanned aerial vehicle, a land robot control system arranged on a land robot and a remote control terminal, wherein the remote control terminal is respectively in communication connection with the unmanned aerial vehicle control system and the land robot control system, an upper connection module is arranged at the bottom of the unmanned aerial vehicle, and a lower connection module is arranged at the top of the land robot;
the remote control terminal is used for respectively sending control commands to the unmanned aerial vehicle control system and the land robot control system so as to control the unmanned aerial vehicle to be in butt joint with or separated from the land robot, and the control commands comprise any one of combination commands or separation commands;
the unmanned aerial vehicle control system is used for responding to the combination command sent by the remote control terminal to control the unmanned aerial vehicle to fly to the position of the land robot and control the upper connecting module to be in butt joint with the lower connecting module; the unmanned aerial vehicle is controlled to fly away from the land robot in response to a separation command sent by the remote control terminal;
the land robot control system is used for responding to a combination command sent by the remote control terminal to control the self-locking of the lower connecting module and the upper connecting module; and the lower connecting module and the upper connecting module are controlled to be separated by responding to a separation command sent by the remote control terminal.
2. The control system of a separable air-ground amphibious cooperative robot according to claim 1, wherein the unmanned aerial vehicle control system comprises: the device comprises a first control module, a first image acquisition module, a second image acquisition module, a first inertia measurement unit, a first power supply module and a first power module;
the first control module is respectively and electrically connected with the first image acquisition module, the second image acquisition module, the first power supply module and the first power module, and the first power supply module is also connected with the first power module;
the first image acquisition module is used for acquiring image information right in front of the unmanned aerial vehicle, and the second image acquisition module is used for acquiring image information below the unmanned aerial vehicle;
the first control module is used for fusing the image data acquired by the first image acquisition module and IMU data measured by the first inertia measurement unit and controlling the unmanned aerial vehicle to perform autonomous navigation according to the result obtained by fusion;
and the system is used for determining the position of the docking self-locking mechanism according to the image data acquired by the second image acquisition module in the docking process of the unmanned aerial vehicle and the land robot, and controlling the operation of the unmanned aerial vehicle through the position of the docking self-locking mechanism so as to realize the docking of the unmanned aerial vehicle and the land robot.
3. The control system of a separable air-ground amphibious cooperative robot as claimed in claim 2, wherein the land robot control system comprises: the system comprises a second control module, a third image acquisition module, a second inertia measurement unit, a second power supply module and a second power module;
the second control module is respectively connected with the third image acquisition module, the second power supply module and the second power module, and the power supply module is also connected with the second power module;
the third image acquisition module is used for acquiring image information right in front of the land robot;
and the second control module is used for fusing the image data acquired by the third image acquisition module and the IMU data measured by the third inertial measurement unit and controlling the land robot to perform autonomous navigation according to the result obtained by fusion.
4. The system of claim 3, wherein the first image acquisition module and the third image acquisition module are both stereo cameras, and the second image acquisition module is a monocular camera.
5. The control system of the separable air-ground amphibious cooperative robot as claimed in claim 3, wherein:
the upper connecting module comprises a first sleeve, the lower connecting module comprises a second sleeve, a telescopic module and a motor, and the second sleeve can be sleeved in the first sleeve;
the cylinder wall of the second sleeve is provided with limiting holes, each limiting hole is provided with a rolling body, and an arc-shaped limiting groove matched with the rolling bodies is formed in the first sleeve;
the telescopic module is sleeved in the second sleeve, and the motor is fixedly arranged on the land robot and connected with the telescopic module;
the second control module is used for controlling the rotation of the motor so as to drive the telescopic module to slide up and down in the second sleeve; when the telescopic module slides upwards to enable the rolling bodies to be meshed with the limiting grooves, the unmanned aerial vehicle and the land robot are in butt joint and self-locked; when the telescopic module slides downwards to enable the rolling bodies to roll into the limiting holes, the unmanned aerial vehicle and the land robot are separated.
6. A control method of a separable air-ground amphibious cooperative robot, which is applied to the control system of the separable air-ground amphibious cooperative robot of claim 5, is characterized by comprising the following steps:
step S101, the remote control terminal sends a combination instruction to the first control module and the second control module respectively;
step S102, the second control module responds to the combination instruction and controls the land robot to stop moving;
s103, the first control module responds to the combination instruction and controls the unmanned aerial vehicle to operate towards the direction of the land robot;
step S104, in the process of butting the unmanned aerial vehicle and the land robot, the first control module determines the relative positions of the upper connecting module and the lower connecting module according to the image data acquired by the second image acquisition module, and controls the unmanned aerial vehicle to run above the land robot through the relative positions;
s105, identifying a two-dimensional code mark arranged on the land robot by a third image acquisition module, and determining the position difference and the posture difference of a first sleeve and a second sleeve by a first control module according to the two-dimensional code mark;
s106, the first control module performs servo control on the unmanned aerial vehicle based on the position difference and the attitude difference by adopting a PID algorithm so as to control the unmanned aerial vehicle to land on the land robot;
and S107, the second control module controls the motor to drive the telescopic module to move upwards so as to push and press the rolling body to be meshed with the limiting groove, and the combination of the unmanned aerial vehicle and the land robot is completed.
7. The control method of the separable air-ground amphibious cooperative robot according to claim 6, further comprising the steps of:
step S201, the remote control terminal sends a separation instruction to the first control module and the second control module respectively;
step S202, the second control module controls the motor to drive the telescopic module to move downwards so as to separate the rolling body from the limiting groove;
and S203, the first control module responds to the separation instruction and controls the unmanned aerial vehicle to operate away from the land robot.
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