CN113813615B - Air-ground amphibious equipment and mode switching system and method thereof - Google Patents
Air-ground amphibious equipment and mode switching system and method thereof Download PDFInfo
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- CN113813615B CN113813615B CN202111134538.8A CN202111134538A CN113813615B CN 113813615 B CN113813615 B CN 113813615B CN 202111134538 A CN202111134538 A CN 202111134538A CN 113813615 B CN113813615 B CN 113813615B
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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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/36—Steering-mechanisms for toy vehicles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/14—Starting or launching devices for toy aircraft; Arrangements on toy aircraft for starting or launching
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a land-air amphibious device and a mode switching system and a mode switching method thereof, and relates to the technical field of amphibious devices and control methods thereof, wherein the system comprises an initialization and parameter updating module, a control type detection module and an actuator output setting module; the device comprises the system, a remote controller and a device main body; the method comprises 6 steps. The system in the equipment is matched with a remote controller to be used, the mode switching shifting lever operation of the remote controller is supported, the mode switching function of the equipment main body is realized, one remote controller can be simultaneously suitable for two mode states, and the inconvenience of using the remote controller is reduced. In addition, the system increases the mode switching condition, and the remote controller instruction can execute the mode switching instruction for switching the driving mode to the flying mode under the condition that the mode switching condition is met, otherwise, the mode switching instruction is refused to be executed, and the control confusion and damage of the equipment main body are relatively reduced. The method is based on the device and has the same beneficial effects as the device.
Description
Technical Field
The invention relates to the technical field of amphibious equipment and control methods thereof, in particular to land-air amphibious equipment and a mode switching system and method thereof.
Background
With the continuous development of the automatic control technology, various types and functions of automatic robots are layered endlessly, wherein a land-air amphibious robot consisting of a small multi-rotor unmanned aerial vehicle and a ground unmanned aerial vehicle gradually becomes an academic and industry research hotspot, and the robot has the performance characteristics of the unmanned aerial vehicle and the unmanned aerial vehicle, can realize the function of flying energy running through structural design, fusion control, task planning and the like, and has wide development and application prospects. Manual control of such aeronautical plants is generally required by means of model airplane remote controls.
The existing model airplane remote controller is generally provided with two sliding rods and a plurality of deflector rods, and the sliding rods and the deflector rods are used as different channels for transmitting signals, and when the model airplane remote controller is used, the defined functions can be controlled by the sliding rods or the deflector rods through the functions of defining the different channels. In the control process, a receiver matched with a code corresponding to a remote controller is connected with a control main board, an operator dials a sliding rod or a deflector rod to a certain position, a corresponding channel generates a control quantity change, the receiver provides a change value of a control signal for the connected main board, a control program in the main board processes the control signal, and a specific identification signal is output for a downstream actuator, so that the aim of controlling the remote controller to the actuator is fulfilled.
When the existing majority of model airplane remote controllers realize the control function, only one equipment mode is supported, and the flight mode and the running mode of amphibious equipment cannot be supported at the same time, so that the remote controllers are very inconvenient to use and switch; a few model airplane remote controllers can realize mode switching and support the flight mode and the driving mode of amphibious equipment, but no switching condition is set, so that the amphibious equipment can be randomly switched to another mode in any mode, and the control confusion and damage of the amphibious equipment are easily caused.
Disclosure of Invention
The invention aims at: aiming at the problems, a land-air amphibious device supporting mode switching of a remote controller and setting switching conditions, and a mode switching system and a mode switching method thereof are provided.
The technical scheme adopted by the invention is as follows:
a mode switching system of air-ground amphibious equipment establishes communication with a remote controller, and comprises an executor output setting module for receiving a remote controller instruction, wherein mode switching conditions are preset in the executor output setting module, and the mode switching instruction is executed only when the remote controller instruction meets the mode switching conditions.
Preferably, the mode switching system of the land-air amphibious device further comprises an initialization and parameter updating module for establishing communication with the remote controller.
Preferably, the mode switching system of the land-air amphibious device further comprises a control type detection module which establishes communication with the initialization and parameter updating module.
Preferably, the executor output setting module, the initialization module, the parameter updating module and the executor output setting module all perform information interaction through the information pool.
An air-ground amphibious device comprises a mode switching system of the air-ground amphibious device, a remote controller and a device main body controlled by the mode switching system and the remote controller in a matched mode.
The mode switching method of the amphibious air-ground equipment is used for switching the running mode and the flight mode of the equipment main body, and comprises the following steps of:
s01, an initialization and parameter updating module reads a remote controller updating instruction;
s02, the executor output setting module executes the mode switching instruction only when the read remote controller updating instruction meets the mode switching condition.
Preferably, the mode switching condition in the step S02 is jointly determined by the control type detection module and the actuator output setting module.
Preferably, the step S01 specifically includes: the initialization and parameter updating module reads the remote controller instruction in real time and judges whether the remote controller instruction is updated or not, the execution of the remote controller instruction is refused under the condition that the remote controller instruction is frequently updated, and the remote controller instruction updating information is sent to the control type detecting module under the condition that the remote controller instruction is not frequently updated.
Preferably, the step S01 further includes the step of: the control type detection module receives the remote controller instruction updating information sent by the initialization and parameter updating module, determines whether to normally execute the remote controller instruction according to different remote controller instruction updating information, and judges the first group of judgment information.
Preferably, the step S02 specifically includes: the executor output setting module judges the second group of judging information, receives the judging result of the control type detecting module on the first group of judging information, judges different judging results according to the first group of judging information and the second group of judging information, and executes different operations.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows: the system in the equipment is matched with a remote controller to be used, the mode switching shifting lever operation of the remote controller is supported, the mode switching function of the equipment main body is realized, one remote controller can be simultaneously suitable for two mode states, and the inconvenience of using the remote controller is reduced. In addition, the system increases the mode switching condition, and the remote controller instruction can execute the mode switching instruction for switching the driving mode to the flying mode under the condition that the mode switching condition is met, otherwise, the mode switching instruction is refused to be executed, and the control confusion and damage of the equipment main body are relatively reduced. The method is based on the device and has the same beneficial effects as the device.
Drawings
Fig. 1 is a block diagram of a mode switching system of an amphibious apparatus.
Fig. 2 is a diagram of the relationship between each module in the mode switching system of the air-ground amphibious device.
FIG. 3 is a logic diagram of an initialization and parameter update module.
Fig. 4 is a logic diagram of a control type detection module.
Fig. 5 is a logic diagram of the actuator output setting module.
Fig. 6 is a flow chart of a mode switching method of the air-ground amphibious apparatus.
The marks in the figure: the system comprises an initialization module-1, a parameter updating module-2, a control type detection module-3 and an actuator output setting module-4.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 and 2, a mode switching system of an amphibious device for land and air establishes communication with a remote controller, and comprises an initialization and parameter updating module 1, a control type detecting module 2 and an actuator output setting module 3; the main program automatically operates the three modules after reading the input signal of the remote controller, and performs information interaction between the three modules through a uORB information publishing and subscribing mode, namely, performs information interaction through the information pool 4, and completely publishes the generated information into the information pool 4 and subscribes the needed information from the information pool 4; the instruction update information of the remote controller is also issued into the information pool 4 for subscription of the corresponding module. The information pool 4 is a uORB information pool. And outputting instructions to the controller after layer-by-layer data updating, mode judging and type detecting.
Referring to fig. 2 to 5, an amphibious apparatus for land and air comprises a mode switching system, a remote controller, and an apparatus main body controlled by the mode switching system and the remote controller, wherein an actuator controller for receiving signals and operating the apparatus main body is arranged in the apparatus main body; the remote controller is provided with a mode switching lock, a mode switching deflector rod and an accelerator; the apparatus main body includes a travel mode and a flight mode, which are provided with an automatic mode and a manual mode in both the travel mode and the flight mode, and the remote controller is further provided with a self-manual switching key to switch the automatic mode and the manual mode. The main function of the land-air amphibious equipment mode switching system is that a user can switch and control the running mode and the flight mode of the equipment main body by toggling a remote controller deflector rod, the two modes are developed in parallel, the functions of the modes are clear and mutually independent and can be mutually switched, and the information interaction of different modes is realized through the information interaction mechanism of uORB under the original flight controller system in the equipment main body, namely, the information interaction is carried out through the information pool 4.
The initialization and parameter updating module 1 is mainly responsible for the early work of the whole program operation, continuously reads the input instruction of the remote controller and identifies whether the instruction is updated, acquires default parameters of the system and executes default operation of the system, including cleaning and releasing the memory space, reading the default parameters of the system, reading the current time and limiting the excessive scheduling of the main function; the way to limit the main function from overscheduling is: under the condition that the instruction of the remote controller is frequently updated, the instruction updating information of the remote controller is refused to be issued to the information pool 4, so that misoperation of the remote controller is prevented. After the initialization operation is completed, the initialization and parameter updating module 1 packages the identified instruction updating information and the current time information of the remote controller as updating information and distributes the updating information into the information pool 4 for the next module to use.
The control type detection module 2 issues update information in the information pool 4 through the subscription initialization and parameter update module 1, and sets the throttle middle position after the remote controller instruction is updated as a safety mechanism. And judging whether the equipment main body is in the flight mode according to the mode switching deflector rod, and judging whether the mode switching deflector rod is subjected to mode switching in real time. If the mode switching occurs, resetting the mode parameters before the corresponding switching mode, namely the driving mode parameters or the flight mode parameters, after the mode switching occurs to each mode switching deflector rod, and releasing the mode parameters or the flight mode parameters to the information pool 4; if the mode switch does not occur, the control type detection module 2 normally executes an instruction for updating information of the remote controller.
After receiving the operation instruction sent by the control type detection module 2, the executor output setting module 3 updates and subscribes to a series of related information in the information pool 4, and clears all executor outputs. The executor output setting module 3 judges whether the mode switching lock is in an unlocking state, if not, judges whether the equipment main body is in a flight mode through the previous subscription information, if so, the virtual attitude set value in the flight mode is set to be a real attitude set value, the real attitude set value is transmitted to the executor controller, and then the real attitude set value is packed and released to the information pool 4; if the vehicle is in a driving mode, judging whether mode switching occurs or not through the previous subscription information, if so, judging whether the accelerator is in the middle position at the moment, if so, judging whether the accelerator is in a manual mode or an automatic mode, if so, carrying out normalization processing on the received accelerator signal, transmitting remote controller instruction updating information to an executor controller, and packaging and publishing related information to an information pool 4; if the running mode is in and the mode switching does not occur, transmitting the instruction updating information of the current remote controller to the executor controller, and then packaging and issuing the instruction updating information into the information pool 4; if the vehicle is in a driving mode and mode switching occurs, and the accelerator is not in the middle position, the system refuses to execute a mode switching instruction based on a safety protection mechanism and returns to a flying mode before switching; if the accelerator is in a driving mode and is switched to a neutral position, and is not in a non-manual mode and an automatic mode, accelerator signals are not required to be processed, instruction update information of a remote controller is directly transmitted to an executor controller, and the instruction update information is packaged and issued to an information pool 4; when the throttle is unlocked, the information is directly released to the information pool 4.
The instruction execution operation of the above-described actuator output setting module 3 is simplified to: after receiving the operation instruction sent by the control type detection module 2, the executor output setting module 3 updates and subscribes a series of related information in the information pool 4, and after all executor outputs are cleared, the executor output setting module 3 executes the instruction under the following six conditions:
1. the mode switching lock is not unlocked and is currently in the flight mode, at the moment, a virtual gesture set value in the flight mode is set to be a real gesture set value, the real gesture set value is transmitted to an actuator controller, and then the real gesture set value is packed and released into the information pool 4;
2. the mode switching lock is not unlocked, is currently in a running mode, is subjected to mode switching, has the accelerator in the middle position and is in a manual mode or an automatic mode, the accelerator signal is normalized, the remote controller instruction updating information is transmitted to the actuator controller, and the information is packed and released into the information pool 4;
3. the mode switching lock is not unlocked, is in a running mode currently, and is not switched, at the moment, remote controller instruction updating information is transmitted to the executor controller, and package release information is transmitted to the information pool 4;
4. the mode switching lock is not unlocked, the vehicle is in a running mode currently, the mode switching is performed, the accelerator is not in the middle position, the system refuses to execute a mode switching instruction, and the vehicle returns to a flight mode;
5. the mode switching lock is not unlocked, is currently in a running mode, is subjected to mode switching, has the accelerator in the middle position and is not in a manual mode and an automatic mode, accelerator signals do not need to be processed, at the moment, remote controller instruction updating information is directly transmitted to an executor controller, and information is packed and released into an information pool 4;
6. the mode switching lock is unlocked and directly issues information to the information pool 4.
The main body mode switching system of the air-ground equipment is developed based on PX4 firmware for the second time, and the function of a remote controller is expanded, so that the remote controller realizes the control function and simultaneously supports two modes, namely a flight mode and a driving mode. The mode switching control for the main body of the land-air equipment is realized by using a definable mode switching deflector rod on the remote controller to transmit a remote controller switching instruction and adding and changing a bottom layer system of the main body controller of the equipment. Specifically, by defining a definable mode switching driving lever channel on the remote controller, two different control signal values of different positions of the mode switching driving lever on the channel are provided for the underlying system, and then the mode switching function of the device main body can be realized.
Referring to fig. 6, the mode switching method of the amphibious air-ground device switches the running mode and the flight mode of the device main body, and includes the following steps:
s01: the initialization and parameter updating module 1 continuously reads the input instruction of the remote controller and identifies whether the instruction is updated or not;
s02: the initialization and parameter updating module 1 obtains default parameters of the system and executes default operation of the system, including clearing and releasing memory space, reading default parameters of the system, reading current time and limiting excessive scheduling of a main function; the main function overstock limiting method comprises the following steps: under the condition that the instruction of the remote controller is frequently updated, the instruction updating information of the remote controller is refused to be issued to the information pool 4, so that misoperation of the remote controller is prevented. After the initialization operation is completed, the initialization and parameter updating module 1 packages the identified instruction updating information and the current time information of the remote controller as updating information and distributes the updating information into the information pool 4 so as to provide the updating information for the next module;
s03: the control type detection module 2 issues updated information in the information pool 4 through the subscription initialization and parameter updating module 1, and the throttle middle position is set as a safety mechanism after the remote controller instruction is updated;
s04: the control type detection module 2 judges whether the device main body is in the flight mode according to the mode switching deflector rod, and judges whether the mode switching of the mode switching deflector rod occurs in real time. If the mode switching occurs, resetting the mode parameters before the corresponding switching mode, namely the driving mode parameters or the flight mode parameters, after the mode switching occurs to each mode switching deflector rod; if the mode switching does not occur, the control type detection module 2 normally executes an instruction for updating the information;
s05: after receiving the operation instruction sent by the control type detection module 2, the executor output setting module 3 updates and subscribes a series of related information in the information pool 4, and clears all executor outputs;
s06: the executor output setting module 3 judges whether the mode switching lock is in an unlocking state, if not, judges whether the equipment main body is in a flight mode through the previous subscription information, if so, the virtual attitude set value in the flight mode is set to be a real attitude set value, the real attitude set value is transmitted to the executor controller, and then the real attitude set value is packed and released to the information pool 4; if the vehicle is in a driving mode, judging whether mode switching occurs or not through the previous subscription information, if so, judging whether the accelerator is in the middle position at the moment, if so, judging whether the accelerator is in a manual mode or an automatic mode, if so, carrying out normalization processing on the received accelerator signal, transmitting instruction updating information of the remote controller to the actuator controller, and packaging and publishing related information to the information pool 4; if the running mode is in and the mode switching does not occur, transmitting the instruction updating information of the current remote controller to the executor controller, and then packaging and issuing the instruction updating information into the information pool 4; if the vehicle is in a driving mode and mode switching occurs, and the accelerator is not in the middle position, the system refuses to execute a mode switching instruction based on a safety protection mechanism and returns to a flying mode before switching; if the accelerator is in a driving mode and is switched to a neutral position, and is not in a non-manual mode and an automatic mode, accelerator signals are not required to be processed, instruction update information of a remote controller is directly transmitted to an executor controller, and the instruction update information is packaged and issued to an information pool 4; when the throttle is unlocked, the information is directly released to the information pool 4.
The principles and embodiments of the present invention have been described herein with reference to specific examples, which are intended to be merely illustrative of the methods of the present invention and their core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (3)
1. The mode switching system of the amphibious equipment is communicated with a remote controller, and is characterized by comprising an executor output setting module for receiving a remote controller instruction, wherein the inside of the executor output setting module is preset with a mode switching condition, and the mode switching instruction is executed only when the remote controller instruction meets the mode switching condition; the system also comprises an initialization and parameter updating module for establishing communication with the remote controller and a control type detection module for establishing communication with the initialization and parameter updating module; the executor output setting module, the initialization and parameter updating module and the control type detection module all carry out information interaction through the information pool;
the initialization and parameter updating module is used for continuously reading the remote controller instruction and identifying whether the remote controller instruction is updated or not, acquiring default parameters of the system and executing default operation of the system, wherein the default operation comprises limiting the excessive dispatching of the main function; after the initialization operation is completed, the identified remote controller instruction update information and the current time information are packaged and are issued into an information pool as update information;
the control type detection module subscribes the initialization and parameter update module to issue update information in an information pool, and sets the middle position of the throttle after the remote controller commands are updated; judging whether the equipment main body is in a flight mode according to a mode switching deflector rod of the remote controller, judging whether the mode switching deflector rod is in a mode or not in real time, resetting mode parameters before corresponding switching modes after each mode switching deflector rod is in the mode switching if the mode switching is in the mode switching, and issuing the mode parameters to an information pool; if the mode switching does not occur, the instruction of the remote controller instruction update information is normally executed;
the executor output setting module executes updating after receiving the operation instruction sent by the control type detection module, subscribes a series of related information in the information pool, clears all executor outputs, and the execution instruction has the following six conditions:
1) The mode switching lock of the remote controller is not unlocked, the equipment main body is in a flight mode currently, a virtual attitude set value in the flight mode is set to be a real attitude set value at the moment, the real attitude set value is transmitted to an actuator controller in the equipment main body, and then the real attitude set value is packed and issued to an information pool;
2) The mode switching lock is not unlocked, is currently in a running mode, is subjected to mode switching, has the accelerator in the middle position and is in a manual mode or an automatic mode, and then the accelerator signal is normalized, the remote controller instruction updating information is transmitted to the actuator controller, and is packaged and issued to the information pool;
3) The mode switching lock is not unlocked, is in a running mode currently, and is not subjected to mode switching, at the moment, remote controller instruction updating information is transmitted to the executor controller, and is packed and issued to the information pool;
4) The mode switching lock is not unlocked, is currently in a driving mode, and is subjected to mode switching, the accelerator is not in the middle position, the mode switching instruction is refused to be executed, and the flying mode is returned;
5) The mode switching lock is not unlocked, is currently in a running mode, is subjected to mode switching, has the accelerator in the middle position, is not in a manual mode and an automatic mode, and is used for directly transmitting remote controller instruction updating information to the executor controller at the moment, and packaging and publishing the remote controller instruction updating information to the information pool;
6) The mode switching lock is unlocked and directly released to the information pool.
2. An amphibious device comprising the mode switching system and remote controller of the amphibious device of claim 1, and a device body controlled by the mode switching system and remote controller;
the land-air amphibious device mode switching system establishes communication with the remote controller;
the remote controller is provided with a mode switching lock, a mode switching deflector rod and an accelerator;
an actuator controller is arranged in the equipment main body; the apparatus body includes a travel mode and a flight mode, and an automatic mode and a manual mode are provided in both the travel mode and the flight mode.
3. The mode switching method of an amphibious apparatus as claimed in claim 2, wherein the apparatus main body is switched between a traveling mode and a flight mode, comprising the steps of:
after receiving the operation instruction sent by the control type detection module, the executor output setting module updates and subscribes a series of related information in the information pool, and clears all executor outputs; the method comprises the steps that an executor output setting module judges whether a mode switching lock is in an unlocking state, if not, whether an equipment main body is in a flight mode is judged through previous subscription information, if so, a virtual gesture set value in the flight mode is set to be a real gesture set value, the real gesture set value is transmitted to an executor controller, and then the real gesture set value is packaged and released to an information pool; if the vehicle is in a driving mode, judging whether mode switching occurs or not through the previous subscription information, if so, judging whether the accelerator is in the middle position at the moment, if so, judging whether the accelerator is in a manual mode or an automatic mode, if so, carrying out normalization processing on the received accelerator signal, transmitting remote controller instruction updating information to an executor controller, and packaging and publishing related information to an information pool; if the running mode is in the running mode and the mode switching does not occur, transmitting the instruction updating information of the current remote controller to the executor controller, and then packaging and publishing the instruction updating information to an information pool; if the vehicle is in a driving mode and mode switching occurs, and the accelerator is not in the middle position, the system refuses to execute a mode switching instruction based on a safety protection mechanism and returns to a flying mode before switching; if the accelerator is in a driving mode and is switched to a neutral position, and the accelerator is not in a non-manual mode and an automatic mode, the accelerator signal is not required to be processed, instruction update information of the remote controller is directly transmitted to the executor controller, and the instruction update information is packaged and issued to the information pool; and when the throttle is unlocked, directly issuing information to the information pool.
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