WO2021022727A1 - Air-ground amphibious unmanned driving platform - Google Patents

Air-ground amphibious unmanned driving platform Download PDF

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Publication number
WO2021022727A1
WO2021022727A1 PCT/CN2019/121703 CN2019121703W WO2021022727A1 WO 2021022727 A1 WO2021022727 A1 WO 2021022727A1 CN 2019121703 W CN2019121703 W CN 2019121703W WO 2021022727 A1 WO2021022727 A1 WO 2021022727A1
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WIPO (PCT)
Prior art keywords
vehicle
flight
rotor
control system
driving
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PCT/CN2019/121703
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French (fr)
Chinese (zh)
Inventor
张新钰
李骏
谭启凡
朱鹏飞
周沫
黄毅
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清华大学
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Publication of WO2021022727A1 publication Critical patent/WO2021022727A1/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the technical field of unmanned vehicles, in particular to a land-air amphibious unmanned driving platform.
  • Land and air amphibious vehicles are a new type of intelligent transportation that can realize ground travel and air flight.
  • the vehicle uses a traditional four-wheel and two-wheel drive chassis as the basic structure for ground travel, and on this basis uses the rotor to achieve high-degree-of-freedom flight movements.
  • the current autonomous navigation of land and air amphibious vehicles is poor, and most of them need to remotely control the trajectory of the vehicle and conduct navigation, making it difficult to conduct research on the trajectory planning of land and air amphibious unmanned vehicles and spatial autonomous navigation decision-making.
  • the purpose of the present invention is to provide a land-air amphibious unmanned driving platform, which is equipped with an environment perception system, a pose acquisition system, and a computing platform to plan and space the movement trajectory of land-air amphibious vehicles.
  • the research of autonomous navigation decision provides hardware test conditions.
  • the present invention provides a land-air amphibious unmanned driving platform, which includes a vehicle body, a flying mechanism, a driving mechanism, a computing platform, a power supply system, a pose acquisition system, an environment perception system, a chassis control system, and a flight Control System.
  • the flying mechanism is arranged above the car body to realize the flight of the vehicle; the driving mechanism is arranged below the car body to realize the road driving of the vehicle; the computing platform and power supply system are arranged on the car body; the pose acquisition system and environment perception
  • the system communication is connected to the computing platform; the chassis control system is connected to the driving mechanism and the computing platform; the flight control system is connected to the flight mechanism and the computing platform; the power system is used to provide power and endurance for the vehicle, and the chassis control system is used to control the driving mechanism Realize the road driving of the vehicle, the flight control system is used to control the flight mechanism to realize the flight of the vehicle, the pose acquisition system is used to obtain the attitude information and position information of the vehicle, the environmental perception system is used to obtain the environmental information around the vehicle, and the computing platform is used to Process the posture information and position information of the vehicle and the environmental information around the vehicle, and complete the vehicle's spatial motion decision and trajectory planning.
  • the flight control system is arranged on the top of the vehicle body.
  • the environmental perception system includes lidar, millimeter-wave radar, and vision sensors.
  • Millimeter-wave radar is used to collect the relative position information between the vehicle body and the ground during the flight of the vehicle, and the lidar and vision sensors are used to obtain information in front of the vehicle. Target information and traffic information.
  • the laser radar, millimeter wave radar and vision sensor are respectively arranged on the front of the vehicle body.
  • the pose acquisition system includes an inertial navigation module and a GPS positioning module.
  • the inertial navigation module is used to provide attitude information of the vehicle
  • the GPS positioning module is used to provide location information of the vehicle.
  • the inertial navigation module is installed in the vehicle body;
  • the GPS positioning module includes a GPS locator and a GPS positioning signal receiver.
  • the GPS locator is installed in the vehicle body, and the GPS positioning signal receiver is installed on the top of the vehicle body. The device is used to obtain the positioning signal of the vehicle position received from the GPS positioning signal receiver.
  • the flying mechanism includes a rotor arm and a rotor structure; the rotor arms are arranged at intervals along the circumference of the vehicle body, the rotor arms have fixed ends, the fixed ends of the rotor arms are connected to the top of the vehicle body, and the rotor structures are arranged on the rotor arms on.
  • the rotor structure includes a rotor, a rotor motor, and an electronic governor.
  • the electronic governor is installed on the rotor arm, the rotor motor is connected to the electronic governor, and the rotor is installed on the rotor motor.
  • the driving mechanism includes a chassis, a steering structure, a driving structure, a connecting frame, a steering wheel, and a driving wheel; the steering wheel and the driving wheel are connected to both ends of the chassis; the steering structure is connected to the steering wheel, and the driving structure is connected to the driving wheel Connection; the connecting frame connects the chassis and the car body.
  • the chassis control system is provided on the vehicle body or the driving mechanism.
  • the posture acquisition system provides posture information and position information of the computing platform vehicle
  • the environment perception system provides the computing platform vehicle surrounding environment information.
  • the computing platform can process this information, make autonomous navigation decisions for vehicles, and plan spatial motion trajectories to generate control commands.
  • the computing platform sends control instructions to the chassis control system and the flight control system, and the chassis control system controls the driving mechanism to enable the vehicle to travel on the road, and the flight control system controls the flight mechanism to enable the vehicle to fly, realizing the functions of autonomous driving and navigation in the vehicle space Therefore, the land-air amphibious unmanned driving platform of the present invention can provide hardware test conditions for the research of space perception, motion trajectory planning and autonomous navigation decision-making of land-air amphibious vehicles.
  • Figure 1 is a structural block diagram of the land-air amphibious unmanned platform of the present invention.
  • Figure 2 is a perspective view of the land-air amphibious unmanned platform of the present invention.
  • Fig. 3 is another perspective view of the land-air amphibious unmanned platform of the present invention.
  • Fig. 4 is an exploded perspective view of the land-air amphibious unmanned platform of the present invention.
  • Fig. 5 is a partially exploded perspective view of the land-air amphibious unmanned platform of the present invention.
  • connection should be interpreted broadly.
  • “connected” can be a fixed connection, a detachable connection, or an integral connection, or an electrical connection, or Signal connection; “connection” can be directly connected or indirectly connected through an intermediate medium.
  • the land-air amphibious unmanned platform of the present invention includes a vehicle body 1, a flying mechanism 2, a driving mechanism 3, a computing platform 4, a power supply system 5, a pose acquisition system 6, an environment perception system 7, and a chassis
  • the control system 8 and the flight control system (not shown).
  • the computing platform 4 and the power supply system 5 are set on the vehicle body 1; the pose acquisition system 6 and the environment perception system 7 are communicatively connected to the computing platform 4; the chassis control system 8 is communicatively connected to the driving mechanism 3 and computing platform 4; the flight control system is connected to flight mechanism 2 and computing platform 4.
  • the power supply system 5 is used to provide power and endurance for the vehicle
  • the chassis control system 8 is used to control the driving mechanism 3 to realize the road driving of the vehicle
  • the flight control system is used to control the flight mechanism 2 to realize the flight of the vehicle
  • the pose acquisition system 6 is used to obtain The posture information and position information of the vehicle
  • the environmental perception system 7 is used to obtain the environmental information around the vehicle
  • the computing platform 4 is used to process the posture information and position information of the vehicle and the environmental information around the vehicle and complete the spatial motion decision and trajectory planning of the vehicle .
  • the vehicle body 1 is composed of a plurality of brackets 14, and the plurality of brackets 14 are fixedly connected together.
  • a plurality of brackets 14 are fixedly connected together by a connecting member M.
  • the multiple brackets 14 can also be fixedly connected together by direct welding, and the fixed connection between the multiple brackets 14 is not limited to this.
  • a plurality of brackets 14 can also be formed into one body for easy manufacturing.
  • the vehicle body 1 may also be a box structure. Of course, the structure of the vehicle body 1 is not limited to this, and the vehicle body 1 may also have other types of structures.
  • the body 1 is made of carbon fiber material.
  • the material of the connecting piece M is aluminum alloy to increase the strength of the vehicle body 1.
  • the flying mechanism 2 is arranged above the vehicle body 1 for realizing the flight of the vehicle.
  • the flying mechanism 2 includes a rotor arm 21 and a rotor structure 22.
  • the rotor arms 21 are arranged at intervals along the circumferential direction C of the vehicle body 1.
  • the rotor arms 21 have a fixed end 21a and a free end 21b.
  • the fixed end 21a of the rotor arm 21 is connected to the top of the vehicle body 1, and the rotor structure 22 is arranged on the rotor arm 21 .
  • the rotor structure 22 is provided at the free end 21 b of the rotor arm 21.
  • the rotor structure 22 includes a rotor 221, a rotor motor 222, and an electronic governor 223.
  • the electronic governor 223 is installed on the rotor arm 21, the rotor motor 222 is connected to the electronic governor 223, and the rotor 221 is installed on the rotor motor 222. on.
  • the electronic governor 223 is mounted on the free end 21 b of the rotor arm 21.
  • the rotor motor 222 is used to drive the rotor 221 to rotate to provide power for the flight of the vehicle; the electronic governor 223 is used to control the acceleration of the motor, and the flight control system communicates with the electronic governor 223 of the flight mechanism 2 to control the rotor motor 222 speed.
  • the rotor motor 222 can be a three-phase AC motor, and the motor is limited to use a 12S battery for power supply, and the uniaxial pulling force is not less than 12kg.
  • the electronic speed governor 223 is preferably an electronic speed governor of DJI Company with the model DJI-Z14120C.
  • the material of the rotor 221 of the flying mechanism 2 may be carbon fiber.
  • the rotor arm 21 of the flying mechanism 2 may be a carbon fiber tube, which has high strength, light weight and good fatigue resistance. 2 to 5, at the position (for example, the free end 21b) of the rotor arm 21 where the electronic governor 223 is installed, an aluminum alloy material may be used to increase the strength.
  • the flying mechanism 2 may be a hexa-rotor flying mechanism, which is highly safe and has the characteristics of flexible flight performance such as vertical lifting and hovering.
  • the number of rotor arms 21 of the flying mechanism 2 is set to six, and correspondingly, the number of rotor structures 22 is set to six.
  • the six rotor wings 221 are distributed at the vertices of a hexagon. It should be noted that the number of rotors 221 of the flight mechanism 2 is not limited to this, and the flight mechanism 2 is a multi-rotor flight mechanism.
  • the flight mechanism 2 may also be a quad-rotor flight mechanism.
  • the driving mechanism 3 is arranged under the vehicle body 1 for realizing road travel of the vehicle.
  • the driving mechanism 3 includes a chassis 31, a steering structure 32, a driving structure 33, a connecting frame 34, steering wheels 35 and driving wheels 36.
  • the steering wheel 35 and the driving wheel 36 are connected at both ends of the chassis 31; the steering structure 32 is connected with the steering wheel 35, and the driving structure 33 is connected with the driving wheel 36; the connecting frame 34 connects the chassis 31 and the vehicle body 1.
  • the driving mechanism 3 is fixedly connected to the vehicle body 1 through a connecting frame 34.
  • the material of the chassis 31 of the driving mechanism 3 is mainly carbon fiber material, and the key parts (such as the part connected with the steering wheel 35 and the driving wheel 36) are supplemented with aluminum alloy material to enhance the strength and effectively reduce the damage to the driving mechanism due to bumps. 3 impact.
  • the steering structure 32 is used to control the traveling direction of the vehicle, and the driving structure 33 is used to drive the traveling of the vehicle.
  • the steering structure 32 includes a steering motor 321, and the driving structure 33 includes a driving motor 331.
  • the left and right front wheels in the traveling direction L of the vehicle are steering wheels 35, and the left and right rear wheels are driving wheels 36.
  • the steering structure 32 of the driving mechanism 3 is preferably an Ackerman steering mechanism to solve the problem of different turning radii of the left and right steering wheels 35 caused by the different turning radii of the left and right steering wheels 35 when the vehicle is turning, and reduce the vehicle The loss of other components when turning.
  • the driving structure 33 of the driving mechanism 3 is preferably a differential power distribution structure to solve the problem of understeer.
  • the drive structure 33 also includes a differential (not shown), an adjustable damper (not shown), and a shock absorber (not shown).
  • the differential is used to better distribute power, and the adjustable damper and shock absorber
  • the device plays a buffering role when the vehicle is switched from flying to road driving and landing on the road, as well as shock absorption when driving on the road.
  • the computing platform 4 is provided in the vehicle body 1.
  • the computing platform 4 can realize the processing and calculation of the perception layer of land and air amphibious vehicles (the environment perception system 7 realizes the function of the perception layer and collects environmental information around the vehicle), decision-making algorithms and control strategies, so that the computing platform 4 can realize the space of the vehicle
  • Computing platform 4 can use ADLINK MXE-5400 series industrial computer.
  • the power supply system 5 is provided in the vehicle body 1.
  • the power supply system 5 may be a lithium-ion battery power supply system, which includes a lithium-ion battery pack, which provides sufficient power and battery life for the vehicle to travel or fly on the road.
  • the power supply system 5 is in communication connection with the computing platform 4, and the power supply system 5 sends battery power information to the computing platform 4 through serial communication, so that the computing platform 4 can monitor the working status of the power supply system 5.
  • a partition 13 is provided in the vehicle body 1, and the computing platform 4 and the power supply system 5 can be provided on the partition 13 in the vehicle body 1.
  • the pose acquisition system 6 is installed on the vehicle body 1.
  • the pose acquisition system 6 includes an inertial navigation module 61 and a GPS positioning module 62.
  • the inertial navigation module 61 is used to provide attitude information of the vehicle
  • the GPS positioning module 62 is used to provide location information of the vehicle.
  • the attitude information includes the pitch angle, roll angle and yaw angle of the vehicle during flight.
  • the inertial navigation module 61 and the GPS positioning module 62 of the pose acquisition system 6 are in communication connection with the computing platform 4, for example, can be connected via 4G network or WiFi communication. Therefore, the computing platform 4 obtains the posture information and position information data of the vehicle from the inertial navigation module 61 and the GPS positioning module 62 and processes them.
  • the inertial navigation module 61 is arranged in the vehicle body 1, specifically, the inertial navigation module 61 may also be arranged on the partition 13 in the vehicle body 1.
  • the inertial navigation module 61 is preferably an inertial navigation module of Refine Technology Co., Ltd. whose model is AH100B, and is equipped with a three-axis accelerometer and a three-axis magnetic sensor to assist a three-axis gyro and temperature compensation algorithm technology.
  • the GPS positioning module 62 includes a GPS locator 621 and a GPS positioning signal receiver 622.
  • the GPS locator 621 is provided in the vehicle body 1, and the GPS positioning signal receiver 622 is provided on the top of the vehicle body 1.
  • the GPS locator 621 obtains the positioning signal of the vehicle position received from the GPS positioning signal receiver.
  • the GPS locator 621 can be arranged on the partition (13) in the vehicle body 1.
  • the GPS positioning module 62 may use a GPS positioning module of the Sinan company model Mini-M600G.
  • the environment sensing system 7 is installed in the vehicle body 1.
  • the environment sensing system 7 includes a laser radar 71, a millimeter wave radar 72, and a vision sensor 73.
  • the millimeter wave radar 72 is used to collect the relative position information of the vehicle body and the ground during the flight of the vehicle, and the lidar 71 and the visual sensor 73 are used to obtain target information and road condition information in front of the vehicle.
  • the targets include stationary objects and moving objects, such as buildings, obstacles, pedestrians, and vehicles.
  • Target information includes, for example, distance and orientation information of buildings or obstacles, distance, speed, and orientation information of moving vehicles.
  • Road condition information includes drivable areas, road lane lines, traffic signs, and signal light information.
  • the lidar 71, the millimeter wave radar 72, and the vision sensor 73 are all provided in the front of the vehicle body 1.
  • the front part of the vehicle body 1 may be provided with a front platform 12, and the lidar 71, the millimeter wave radar 72 and the vision sensor 73 are provided on the front platform 12 of the vehicle body 1.
  • the lidar 71 can be within a certain distance of the vehicle forward 180° from the vehicle (depending on the specific lidar 71 used, the model of the company is RS-LiDAR-16 multi-line lidar, and the detection distance is within 100m)
  • the target information is detected.
  • the vision sensor 73 is preferably a monocular camera.
  • the lidar 71 can use the model RS-LiDAR-16 multi-line lidar of Sagitar Juchuang.
  • the millimeter wave radar 72 can use Delphi’s ESR 2.5 millimeter wave radar.
  • the vision sensor 73 can be a RealSense D415 camera of Intel Corporation.
  • the lidar 71, millimeter wave radar 72, and vision sensor 73 can also be arranged in a distributed manner.
  • the lidar 71 can be arranged on the top of the car body 1, and the millimeter wave radar 72 can be arranged on the bottom of the car body 1 or the rotor of the flying mechanism 2.
  • the visual sensor 73 can be arranged on the top of the vehicle body 1, so that the visual sensor 73 can detect around.
  • the positions of the laser radar 71, the millimeter wave radar 72, and the vision sensor 73 can be arbitrarily set according to specific requirements (for example, the detection range of the radar and the vision sensor).
  • the environment sensing system 7 may also include an under-vehicle camera for aerial photography.
  • the lidar 71, millimeter-wave radar 72, and vision sensor 73 of the environmental sensing system 7 are respectively connected to the computing platform 4, and are respectively connected through Ethernet, CAN bus, and USB, so that the computing platform 4 is separated from the lidar 71, millimeter wave
  • the radar 72 and the vision sensor 73 obtain environmental information around the vehicle, and are processed by the computing platform 4 and used for the spatial motion decision and trajectory planning of the computing platform 4.
  • the flight control system is preferably provided on the top of the vehicle body 1. Specifically, an upper platform 11 is provided on the top of the vehicle body 1, and the flight control system is provided in the upper platform 11.
  • the flight control system is connected to the electronic governor 223 (for example, connected via a bus).
  • the flight control system controls the electronic governor 223 to adjust the speed of the rotor motor 222, and the rotor motor 222 drives the rotor 221 to rotate, thereby realizing the flight of the vehicle.
  • the electronic governor obtains the operating and status information of the rotor motor 222, and feeds back the operating status information of the rotor motor 222 to the flight control system through the bus.
  • the flight control system is an integrated circuit board, which integrates a single-chip microcomputer controller (not shown, such as the STM32F429 single-chip controller), an attitude detection sensor (not shown, such as an MPU9250 attitude detection sensor), and an air pressure sensor (not shown) Shown, for example a barometric pressure sensor with model GY-BMP280-3.3) and other peripheral circuits (not shown).
  • the single-chip controller is used to receive the control instructions sent by the computing platform 4, data processing, and send control instructions to the flight mechanism 2; the attitude detection sensor is used to obtain the real-time attitude of the vehicle during flight, and the air pressure sensor is used to collect the vehicle's flight For real-time air pressure, the single-chip controller receives the control instructions sent by the computing platform 4, combines the real-time information (real-time attitude, real-time air pressure) during the current flight of the vehicle, generates control instructions after processing and calculation, and controls the electronic governor 223, thereby achieving flight
  • the control system performs flight control functions for the flight mechanism 2.
  • the chassis control system 8 is provided on the vehicle body 1 or the driving mechanism 3. As shown in FIGS. 2 and 4, the chassis control system 8 is provided on the chassis 31 of the driving mechanism 3.
  • the chassis control system 8 is connected to the steering motor 321 and the driving motor 331 (for example, connected via a bus).
  • the chassis control system 8 controls the steering motor 321 of the steering structure 32 and the drive motor 331 of the drive structure 33.
  • the drive motor 331 drives the drive wheel 36 to rotate, thereby driving the vehicle to travel on the road, and the steering motor 321 drives the steering wheel 35 to rotate, thereby realizing the vehicle movement The steering when driving on the road.
  • the chassis control system 8 is an integrated circuit board, which integrates a single-chip controller (not shown, such as a single-chip controller with a model of STM32F429), a driving circuit for driving the motor (driving motor 331 and steering motor 321) and other peripheral circuits ( Not shown) and so on.
  • the single-chip controller receives and processes the control instructions sent by the computing platform 4, and the output signals act on the drive circuit.
  • the drive circuit is used to drive the drive motor 331 and the steering motor 321, so that the drive motor 331 and the steering motor 321 drive the drive wheel 36 And the steering wheel 35 rotate, the drive motor 331 and the steering motor 321 both include an encoder, the encoder is used to collect the speed information of the drive motor 331 and the steering motor 321 and send it to the microcontroller controller, so as to realize the chassis control system 8 to the driving mechanism 3 Perform road driving control functions.
  • the land-air amphibious unmanned driving platform may further include a 4G communication system 9, and the computing platform 4 is communicatively connected to an external remote terminal through the 4G communication system 9.
  • the computing platform 4 can send the acquired working status data of the power control system 5, the posture information and position information data of the vehicle, and the environmental information data around the vehicle to a remote terminal.
  • the remote terminal includes a server, and the server can save and analyze these data.
  • the remote terminal can also include a human-computer interaction interface to display these data in real time, enabling the operator to monitor the status of the vehicle in real time, including the operating status of the vehicle (flight or road driving), the working status of the power control system 5, the posture of the vehicle, and The position and road condition information in front of the vehicle, the drivable area, the working state of the rotor motor 222, the working state of the steering motor 321 and the driving motor 331, and so on.
  • a human-computer interaction interface to display these data in real time, enabling the operator to monitor the status of the vehicle in real time, including the operating status of the vehicle (flight or road driving), the working status of the power control system 5, the posture of the vehicle, and The position and road condition information in front of the vehicle, the drivable area, the working state of the rotor motor 222, the working state of the steering motor 321 and the driving motor 331, and so on.
  • the inertial navigation module 61 and the GPS positioning module 62 of the pose acquisition system 6 provide the posture information and position information of the vehicle on the computing platform 4, the lidar 71 of the environmental perception system 7,
  • the millimeter wave radar 72 and the visual sensor 73 provide the computing platform 4 with environmental information around the vehicle, including target information in front of the vehicle, road condition information, and relative position information between the vehicle body and the ground.
  • the computing platform 4 can process this information and plan the space movement trajectory of the vehicle to form autonomous navigation decisions, thereby generating control instructions.
  • the computing platform 4 sends control instructions to the chassis control system 8 and/or the flight control system, so that the chassis control system 8 controls the steering motor 321 of the steering structure 32 and the driving motor 331 of the drive structure 33, and the steering motor 321 drives the steering wheel 35 to rotate,
  • the driving motor 331 drives the driving wheels 36 to steer, so as to realize the road running of the vehicle;
  • the flight control system controls the electronic governor 223 to adjust the speed of the rotor motor 222, and the rotor motor 222 drives the rotor 221 to rotate, thereby realizing the flight of the vehicle.
  • the computing platform 4 controls the driving mechanism 3 and the flight control system to control the flight mechanism 2 through the chassis control system 8 according to the planned space motion trajectory of the vehicle, so as to realize the functions of autonomous driving and autonomous navigation of the vehicle space, thus the land-air amphibious unmanned vehicle of the present invention
  • the driving platform can provide hardware test conditions for the research of space perception, motion trajectory planning and autonomous navigation decision-making of land and air amphibious vehicles.

Abstract

Provided is an air-ground amphibious unmanned driving platform, comprising a vehicle body, a flight mechanism, a driving mechanism, a computing platform arranged in the vehicle body, a power supply system, a position and attitude acquisition system, an environmental perception system, a flight control system, and a chassis control system arranged in the driving mechanism. The position and attitude acquisition system, the environmental perception system, the chassis control system and the flight control system are in communication connection with the computing platform, respectively. The flight mechanism is arranged above the vehicle body. The driving mechanism is arranged below the vehicle body. The power supply system is used for providing a vehicle with power and endurance. The chassis control system is used for controlling the driving mechanism to realize driving of the vehicle on a road surface. The flight control system is used for controlling the flight mechanism to realize flying of the vehicle. The position and attitude acquisition system is used for acquiring attitude information and position information of the vehicle. The environmental perception system is used for acquiring environmental information around the vehicle. The computing platform is used for processing sensor information and completing unmanned driving decision-making and planning.

Description

陆空两栖无人驾驶平台Land and air amphibious unmanned platform 技术领域Technical field
本发明涉及无人车技术领域,尤其涉及一种陆空两栖无人驾驶平台。The invention relates to the technical field of unmanned vehicles, in particular to a land-air amphibious unmanned driving platform.
背景技术Background technique
陆空两栖车辆是一种能够实现地面行驶和空中飞行的新型智能交通工具。车辆以传统的四轮两驱底盘作为地面行驶的基础结构,在此基础上利用旋翼实现高自由度的飞行动作。目前的陆空两栖车辆自主导航能动性较差,大多数需要通过远程遥控控制车辆的运行轨迹并进行导航,使陆空两栖无人车的运动轨迹规划和空间自主导航决策的研究难以进行。Land and air amphibious vehicles are a new type of intelligent transportation that can realize ground travel and air flight. The vehicle uses a traditional four-wheel and two-wheel drive chassis as the basic structure for ground travel, and on this basis uses the rotor to achieve high-degree-of-freedom flight movements. The current autonomous navigation of land and air amphibious vehicles is poor, and most of them need to remotely control the trajectory of the vehicle and conduct navigation, making it difficult to conduct research on the trajectory planning of land and air amphibious unmanned vehicles and spatial autonomous navigation decision-making.
发明内容Summary of the invention
鉴于现有技术存在的缺陷,本发明的目的在于提供一种陆空两栖无人驾驶平台,其配备有环境感知系统、位姿采集系统以及计算平台,为陆空两栖车辆的运动轨迹规划和空间自主导航决策的研究提供硬件试验条件。In view of the shortcomings of the prior art, the purpose of the present invention is to provide a land-air amphibious unmanned driving platform, which is equipped with an environment perception system, a pose acquisition system, and a computing platform to plan and space the movement trajectory of land-air amphibious vehicles. The research of autonomous navigation decision provides hardware test conditions.
为了实现上述目的,本发明提供了一种陆空两栖无人驾驶平台,其包括车体、飞行机构、行车机构、计算平台、电源系统、位姿采集系统、环境感知系统、底盘控制系统以及飞行控制系统。飞行机构设置于车体的上方,用于实现车辆的飞行;行车机构设置于车体的下方,用于实现车辆的路面行驶;计算平台和电源系统设置于车体;位姿采集系统和环境感知系统通信连接于计算平台;底盘控制系统通信连接于行车机构和计算平台;飞行控制系统通信连接于飞行机构和计算平台;电源系统用于为车辆提供动力和续航,底盘控制系统用于控制行车机构实现车辆的路面行驶,飞行控制系统用于控制飞行机构实现车辆的飞行,位姿采集系统用于获取车辆的姿态信息和位置信息,环境感知系统用于获取车辆周围的环境信息,计算平台用于处理车辆的姿态信息和位置信息以及车辆周围的环境信息并完成车辆的空间运动决策和轨迹规划。In order to achieve the above objectives, the present invention provides a land-air amphibious unmanned driving platform, which includes a vehicle body, a flying mechanism, a driving mechanism, a computing platform, a power supply system, a pose acquisition system, an environment perception system, a chassis control system, and a flight Control System. The flying mechanism is arranged above the car body to realize the flight of the vehicle; the driving mechanism is arranged below the car body to realize the road driving of the vehicle; the computing platform and power supply system are arranged on the car body; the pose acquisition system and environment perception The system communication is connected to the computing platform; the chassis control system is connected to the driving mechanism and the computing platform; the flight control system is connected to the flight mechanism and the computing platform; the power system is used to provide power and endurance for the vehicle, and the chassis control system is used to control the driving mechanism Realize the road driving of the vehicle, the flight control system is used to control the flight mechanism to realize the flight of the vehicle, the pose acquisition system is used to obtain the attitude information and position information of the vehicle, the environmental perception system is used to obtain the environmental information around the vehicle, and the computing platform is used to Process the posture information and position information of the vehicle and the environmental information around the vehicle, and complete the vehicle's spatial motion decision and trajectory planning.
在一实施例中,飞行控制系统设置于车体的顶部。In one embodiment, the flight control system is arranged on the top of the vehicle body.
在一实施例中,环境感知系统包括激光雷达、毫米波雷达以及视觉传感器,毫米波雷达用于采集车辆飞行过程中车体与地面的相对位置信息,激光雷达和视觉传感器用于获取车辆前方的目标信息和路况信息。In one embodiment, the environmental perception system includes lidar, millimeter-wave radar, and vision sensors. Millimeter-wave radar is used to collect the relative position information between the vehicle body and the ground during the flight of the vehicle, and the lidar and vision sensors are used to obtain information in front of the vehicle. Target information and traffic information.
在一实施例中,激光雷达、毫米波雷达以及视觉传感器分别设置于车体的前部。In one embodiment, the laser radar, millimeter wave radar and vision sensor are respectively arranged on the front of the vehicle body.
在一实施例中,位姿采集系统包括惯性导航模块和GPS定位模块,惯性导航模块用于提供车辆的姿态信息,GPS定位模块用于提供车辆的位置信息。In an embodiment, the pose acquisition system includes an inertial navigation module and a GPS positioning module. The inertial navigation module is used to provide attitude information of the vehicle, and the GPS positioning module is used to provide location information of the vehicle.
在一实施例中,惯性导航模块设置于车体内;GPS定位模块包括GPS定位器和GPS定位信号接收器,GPS定位器设置于车体内,GPS定位信号接收器设置于车体的顶部,GPS定位器用于获取从GPS定位信号接收器接收的车辆位置的定位信号。In one embodiment, the inertial navigation module is installed in the vehicle body; the GPS positioning module includes a GPS locator and a GPS positioning signal receiver. The GPS locator is installed in the vehicle body, and the GPS positioning signal receiver is installed on the top of the vehicle body. The device is used to obtain the positioning signal of the vehicle position received from the GPS positioning signal receiver.
在一实施例中,飞行机构包括旋翼臂和旋翼结构;旋翼臂沿车体的周向间隔设置,旋翼臂具有固定端,旋翼臂的固定端连接于车体的顶部,旋翼结构设置于旋翼臂上。In one embodiment, the flying mechanism includes a rotor arm and a rotor structure; the rotor arms are arranged at intervals along the circumference of the vehicle body, the rotor arms have fixed ends, the fixed ends of the rotor arms are connected to the top of the vehicle body, and the rotor structures are arranged on the rotor arms on.
在一实施例中,旋翼结构包括旋翼、旋翼电机以及电子调速器,电子调速器安装在旋翼臂上,旋翼电机连接于电子调速器,旋翼安装在旋翼电机上。In one embodiment, the rotor structure includes a rotor, a rotor motor, and an electronic governor. The electronic governor is installed on the rotor arm, the rotor motor is connected to the electronic governor, and the rotor is installed on the rotor motor.
在一实施例中,行车机构包括底盘、转向结构、驱动结构、连接架、转向轮以及驱动轮;转向轮和驱动轮连接在底盘的两端;转向结构与转向轮连接,驱动结构与驱动轮连接;连接架连接底盘和车体。In an embodiment, the driving mechanism includes a chassis, a steering structure, a driving structure, a connecting frame, a steering wheel, and a driving wheel; the steering wheel and the driving wheel are connected to both ends of the chassis; the steering structure is connected to the steering wheel, and the driving structure is connected to the driving wheel Connection; the connecting frame connects the chassis and the car body.
在一实施例中,底盘控制系统设置于车体或行车机构。In one embodiment, the chassis control system is provided on the vehicle body or the driving mechanism.
本发明的有益效果如下:The beneficial effects of the present invention are as follows:
在本发明的陆空两栖无人驾驶平台中,位姿采集系统提供给计算平台车辆的姿态信息和位置信息,环境感知系统提供给计算平台车辆的周围的环境信息。计算平台能够对这些信息进行处理并进行车辆的自主导航决策,进行空间运动轨迹规划,从而生成控制指令。计算平台向底盘控制系统和飞行控制系统发送控制指令,进而底盘控制系统控制行车机构使车辆能够在路面行驶,且飞行控制系统控制飞行机构使车辆能够飞行,实现车辆空间自主驾驶和自主导航的功能,从而本发明的陆空两栖无人驾驶平台能够为陆空两栖车 辆的空间感知、运动轨迹规划和自主导航决策的研究提供硬件试验条件。In the land-air amphibious unmanned platform of the present invention, the posture acquisition system provides posture information and position information of the computing platform vehicle, and the environment perception system provides the computing platform vehicle surrounding environment information. The computing platform can process this information, make autonomous navigation decisions for vehicles, and plan spatial motion trajectories to generate control commands. The computing platform sends control instructions to the chassis control system and the flight control system, and the chassis control system controls the driving mechanism to enable the vehicle to travel on the road, and the flight control system controls the flight mechanism to enable the vehicle to fly, realizing the functions of autonomous driving and navigation in the vehicle space Therefore, the land-air amphibious unmanned driving platform of the present invention can provide hardware test conditions for the research of space perception, motion trajectory planning and autonomous navigation decision-making of land-air amphibious vehicles.
附图说明Description of the drawings
图1是本发明的陆空两栖无人驾驶平台的结构框图。Figure 1 is a structural block diagram of the land-air amphibious unmanned platform of the present invention.
图2是本发明的陆空两栖无人驾驶平台的立体图。Figure 2 is a perspective view of the land-air amphibious unmanned platform of the present invention.
图3是本发明的陆空两栖无人驾驶平台的另一角度的立体图。Fig. 3 is another perspective view of the land-air amphibious unmanned platform of the present invention.
图4是本发明的陆空两栖无人驾驶平台的分解立体图。Fig. 4 is an exploded perspective view of the land-air amphibious unmanned platform of the present invention.
图5是本发明的陆空两栖无人驾驶平台的部分分解立体图。Fig. 5 is a partially exploded perspective view of the land-air amphibious unmanned platform of the present invention.
其中,附图标记说明如下:Wherein, the reference signs are explained as follows:
1车体                     35转向轮1 car body 35 steering wheels
11上平台                  36驱动轮11 on the platform 36 driving wheels
12前平台                  4计算平台12 Former platform 4 Computing platform
13隔板                    5电源系统13 Separator 5 Power system
14支架                    6位姿采集系统14 bracket 6 pose acquisition system
2飞行机构                 61惯性导航模块2 Flight agencies 61 inertial navigation module
21旋翼臂                  62GPS定位模块21 Rotary wing arm 62 GPS positioning module
21a固定端                 621GPS定位器21a fixed end 621GPS locator
21b自由端                 622GPS定位信号接收器21b free end 622 GPS positioning signal receiver
22旋翼结构                7环境感知系统22 Rotor structure 7 Environmental perception system
221旋翼                   71激光雷达221 Rotor 71 Lidar
222旋翼电机               72毫米波雷达222 Rotary wing motor 72 millimeter wave radar
223电子调速器             73视觉传感器223 electronic governor 73 vision sensor
3行车机构                 8底盘控制系统3 Driving agencies 8 Chassis control system
31底盘                    9 4G通信系统31 Chassis 9 4G communication system
32转向结构                C周向32 Turn to structure C Zhou Xiang
33驱动结构                M连接件33 Drive structure M connector
34连接架                  L行驶方向34 Connecting frame L driving direction
具体实施方式detailed description
附图示出本发明的实施例,且将理解的是,所公开的实施例仅仅是本发 明的示例,本发明可以以各种形式实施,因此,本文公开的具体细节不应被解释为限制,而是仅作为权利要求的基础且作为表示性的基础用于教导本领域普通技术人员以各种方式实施本发明。The accompanying drawings show embodiments of the present invention, and it will be understood that the disclosed embodiments are merely examples of the present invention, and the present invention can be implemented in various forms, therefore, the specific details disclosed herein should not be construed as limiting Instead, it is only used as the basis of the claims and as an indicative basis for teaching those of ordinary skill in the art to implement the present invention in various ways.
在本申请的描述中,除非另有规定或说明,术语“连接”应做广义理解,例如,“连接”可以是固定连接,也可以是可拆卸连接,或一体地连接,或电连接,或信号连接;“连接”可以是直接相连,也可以通过中间媒介间接相连。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本申请中的具体含义。In the description of this application, unless otherwise specified or stated, the term "connected" should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection, or an electrical connection, or Signal connection; "connection" can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
本说明书的描述中,需要理解的是,本申请实施例所描述的“上”、“下”等指示方向的方位词是以附图所示的角度来进行描述的,不应理解为对本申请实施例的限定。In the description of this specification, it should be understood that the orientation words such as “upper” and “lower” described in the embodiments of this application are described from the angle shown in the drawings, and should not be construed as referring to this application. Limitations of Examples.
下面参照附图详细说明根据本发明的陆空两栖无人驾驶平台。The land-air amphibious unmanned platform according to the present invention will be described in detail below with reference to the drawings.
参照图1至图5,本发明的陆空两栖无人驾驶平台包括车体1、飞行机构2、行车机构3、计算平台4、电源系统5、位姿采集系统6、环境感知系统7、底盘控制系统8以及飞行控制系统(未示出)。1 to 5, the land-air amphibious unmanned platform of the present invention includes a vehicle body 1, a flying mechanism 2, a driving mechanism 3, a computing platform 4, a power supply system 5, a pose acquisition system 6, an environment perception system 7, and a chassis The control system 8 and the flight control system (not shown).
参照图2至图5所示的示例,计算平台4和电源系统5设置于车体1;位姿采集系统6和环境感知系统7通信连接于计算平台4;底盘控制系统8通信连接于行车机构3和计算平台4;飞行控制系统通信连接于飞行机构2和计算平台4。电源系统5用于为车辆提供动力和续航,底盘控制系统8用于控制行车机构3实现车辆的路面行驶,飞行控制系统用于控制飞行机构2实现车辆的飞行,位姿采集系统6用于获取车辆的姿态信息和位置信息,环境感知系统7用于获取车辆周围的环境信息,计算平台4用于处理车辆的姿态信息和位置信息以及车辆周围的环境信息并完成车辆的空间运动决策和轨迹规划。Referring to the examples shown in Figures 2 to 5, the computing platform 4 and the power supply system 5 are set on the vehicle body 1; the pose acquisition system 6 and the environment perception system 7 are communicatively connected to the computing platform 4; the chassis control system 8 is communicatively connected to the driving mechanism 3 and computing platform 4; the flight control system is connected to flight mechanism 2 and computing platform 4. The power supply system 5 is used to provide power and endurance for the vehicle, the chassis control system 8 is used to control the driving mechanism 3 to realize the road driving of the vehicle, the flight control system is used to control the flight mechanism 2 to realize the flight of the vehicle, and the pose acquisition system 6 is used to obtain The posture information and position information of the vehicle, the environmental perception system 7 is used to obtain the environmental information around the vehicle, and the computing platform 4 is used to process the posture information and position information of the vehicle and the environmental information around the vehicle and complete the spatial motion decision and trajectory planning of the vehicle .
参照图2至图5所示的示例,车体1由多个支架14构成,多个支架14固定连接在一起。如图4所示,多个支架14通过连接件M固定连接在一起。多个支架14还可通过直接焊接固定连接在一起,多个支架14之间的固定连接方式不限于此。多个支架14也可成型为一体,便于制造。车体1除了可为例如由多个支架14构成的框架结构外,车体1也可为箱式结构,当然车体1的结构不限于此,车体1也可为其他类型的结构。车体1由碳纤维材料 制成。连接件M的材料为铝合金,以提高车体1的强度。Referring to the examples shown in FIGS. 2 to 5, the vehicle body 1 is composed of a plurality of brackets 14, and the plurality of brackets 14 are fixedly connected together. As shown in FIG. 4, a plurality of brackets 14 are fixedly connected together by a connecting member M. The multiple brackets 14 can also be fixedly connected together by direct welding, and the fixed connection between the multiple brackets 14 is not limited to this. A plurality of brackets 14 can also be formed into one body for easy manufacturing. In addition to the frame structure formed by a plurality of brackets 14, the vehicle body 1 may also be a box structure. Of course, the structure of the vehicle body 1 is not limited to this, and the vehicle body 1 may also have other types of structures. The body 1 is made of carbon fiber material. The material of the connecting piece M is aluminum alloy to increase the strength of the vehicle body 1.
如图2至图5所示,飞行机构2设置于车体1的上方,用于实现车辆的飞行。飞行机构2包括旋翼臂21和旋翼结构22。旋翼臂21沿车体1的周向C间隔设置,旋翼臂21具有固定端21a和自由端21b,旋翼臂21的固定端21a连接于车体1的顶部,旋翼结构22设置于旋翼臂21上。在图2至图5所示的示例中,旋翼结构22设置于旋翼臂21的自由端21b。具体地,旋翼结构22包括旋翼221、旋翼电机222以及电子调速器223,电子调速器223安装在旋翼臂21上,旋翼电机222连接于电子调速器223,旋翼221安装在旋翼电机222上。在图2至图5所示的示例中,电子调速器223安装在旋翼臂21的自由端21b上。旋翼电机222用于驱动旋翼221转动,以给车辆的飞行提供动力;电子调速器223用于控制电机加速运转,飞行控制系统与飞行机构2的电子调速器223通信连接,以控制旋翼电机222转速。旋翼电机222可为三相交流电机,电机限定为使用12S电池供电,单轴拉力不小于12kg。电子调速器223优选为大疆公司的型号为DJI-Z14120C的电子调速器。飞行机构2的旋翼221的材料可为碳纤维。飞行机构2的旋翼臂21可为碳纤维管,其强度高、重量轻且抗疲劳性好。参照图2至图5,在旋翼臂21的安装电子调速器223的位置(例如自由端21b)处,可使用铝合金材料来增加强度。As shown in Figs. 2 to 5, the flying mechanism 2 is arranged above the vehicle body 1 for realizing the flight of the vehicle. The flying mechanism 2 includes a rotor arm 21 and a rotor structure 22. The rotor arms 21 are arranged at intervals along the circumferential direction C of the vehicle body 1. The rotor arms 21 have a fixed end 21a and a free end 21b. The fixed end 21a of the rotor arm 21 is connected to the top of the vehicle body 1, and the rotor structure 22 is arranged on the rotor arm 21 . In the examples shown in FIGS. 2 to 5, the rotor structure 22 is provided at the free end 21 b of the rotor arm 21. Specifically, the rotor structure 22 includes a rotor 221, a rotor motor 222, and an electronic governor 223. The electronic governor 223 is installed on the rotor arm 21, the rotor motor 222 is connected to the electronic governor 223, and the rotor 221 is installed on the rotor motor 222. on. In the examples shown in FIGS. 2 to 5, the electronic governor 223 is mounted on the free end 21 b of the rotor arm 21. The rotor motor 222 is used to drive the rotor 221 to rotate to provide power for the flight of the vehicle; the electronic governor 223 is used to control the acceleration of the motor, and the flight control system communicates with the electronic governor 223 of the flight mechanism 2 to control the rotor motor 222 speed. The rotor motor 222 can be a three-phase AC motor, and the motor is limited to use a 12S battery for power supply, and the uniaxial pulling force is not less than 12kg. The electronic speed governor 223 is preferably an electronic speed governor of DJI Company with the model DJI-Z14120C. The material of the rotor 221 of the flying mechanism 2 may be carbon fiber. The rotor arm 21 of the flying mechanism 2 may be a carbon fiber tube, which has high strength, light weight and good fatigue resistance. 2 to 5, at the position (for example, the free end 21b) of the rotor arm 21 where the electronic governor 223 is installed, an aluminum alloy material may be used to increase the strength.
参照图2至图5所示的示例,飞行机构2可为六旋翼飞行机构,其安全性强,具备垂直升降、悬停等灵活飞行性能的特点。飞行机构2的旋翼臂21的数量设置为六个,对应地,旋翼结构22的数量设置为六个。六个旋翼221呈六边形顶点位置分布。需要注意的是,飞行机构2的旋翼221的数量不限于此,飞行机构2为多旋翼飞行机构,例如飞行机构2也可为四旋翼飞行机构。Referring to the examples shown in Figs. 2 to 5, the flying mechanism 2 may be a hexa-rotor flying mechanism, which is highly safe and has the characteristics of flexible flight performance such as vertical lifting and hovering. The number of rotor arms 21 of the flying mechanism 2 is set to six, and correspondingly, the number of rotor structures 22 is set to six. The six rotor wings 221 are distributed at the vertices of a hexagon. It should be noted that the number of rotors 221 of the flight mechanism 2 is not limited to this, and the flight mechanism 2 is a multi-rotor flight mechanism. For example, the flight mechanism 2 may also be a quad-rotor flight mechanism.
如图2至图5所示,行车机构3设置于车体1的下方,用于实现车辆的路面行驶。行车机构3包括底盘31、转向结构32、驱动结构33、连接架34、转向轮35以及驱动轮36。转向轮35和驱动轮36连接在底盘31的两端;转向结构32与转向轮35连接,驱动结构33与驱动轮36连接;连接架34连接底盘31和车体1。行车机构3通过连接架34与车体1固定连接。行车机构3的底盘31的材料以碳纤维材料为主并在关键部位处(例如与转向轮35 和驱动轮36连接的部分)辅以铝合金材料,以增强强度,有效减少因磕碰损伤对行车机构3的影响。转向结构32用于控制车辆的行驶的方向,驱动结构33用于驱动车辆的行驶。转向结构32包括转向电机321,驱动结构33包括驱动电机331。在图2至图5所示的示例中,车辆在行驶方向L上的左右前轮为转向轮35,左右后轮为驱动轮36。行车机构3的转向结构32优选为阿克曼转向机构,以解决车辆在转向时由于左、右转向轮35的转向半径不同所造成的左、右转向轮35转弯半径不同的问题,减小车辆转向时对其他部件的损耗。行车机构3的驱动结构33优选为差速动力分配结构,以解决转向不足的问题。驱动结构33还包括差速器(未示出)、可调阻尼器(未示出)以及减震器(未示出),差速器用以更好的分配动力,可调阻尼器和减震器起到车辆从飞行切换到路面行驶落地时的缓冲作用以及路面行驶时的减震作用。As shown in Figs. 2 to 5, the driving mechanism 3 is arranged under the vehicle body 1 for realizing road travel of the vehicle. The driving mechanism 3 includes a chassis 31, a steering structure 32, a driving structure 33, a connecting frame 34, steering wheels 35 and driving wheels 36. The steering wheel 35 and the driving wheel 36 are connected at both ends of the chassis 31; the steering structure 32 is connected with the steering wheel 35, and the driving structure 33 is connected with the driving wheel 36; the connecting frame 34 connects the chassis 31 and the vehicle body 1. The driving mechanism 3 is fixedly connected to the vehicle body 1 through a connecting frame 34. The material of the chassis 31 of the driving mechanism 3 is mainly carbon fiber material, and the key parts (such as the part connected with the steering wheel 35 and the driving wheel 36) are supplemented with aluminum alloy material to enhance the strength and effectively reduce the damage to the driving mechanism due to bumps. 3 impact. The steering structure 32 is used to control the traveling direction of the vehicle, and the driving structure 33 is used to drive the traveling of the vehicle. The steering structure 32 includes a steering motor 321, and the driving structure 33 includes a driving motor 331. In the examples shown in FIGS. 2 to 5, the left and right front wheels in the traveling direction L of the vehicle are steering wheels 35, and the left and right rear wheels are driving wheels 36. The steering structure 32 of the driving mechanism 3 is preferably an Ackerman steering mechanism to solve the problem of different turning radii of the left and right steering wheels 35 caused by the different turning radii of the left and right steering wheels 35 when the vehicle is turning, and reduce the vehicle The loss of other components when turning. The driving structure 33 of the driving mechanism 3 is preferably a differential power distribution structure to solve the problem of understeer. The drive structure 33 also includes a differential (not shown), an adjustable damper (not shown), and a shock absorber (not shown). The differential is used to better distribute power, and the adjustable damper and shock absorber The device plays a buffering role when the vehicle is switched from flying to road driving and landing on the road, as well as shock absorption when driving on the road.
参照图2和图3的示例,计算平台4设置于车体1内。计算平台4能够实现对陆空两栖车辆的感知层(环境感知系统7实现感知层的功能,采集车辆周围的环境信息)、决策算法以及控制策略的处理计算,从而计算平台4能够实现车辆的空间运动轨迹规划和决策形成的功能,基于形成的决策控制车辆的运行。计算平台4可采用凌华科技MXE-5400系列工控机。Referring to the examples of FIGS. 2 and 3, the computing platform 4 is provided in the vehicle body 1. The computing platform 4 can realize the processing and calculation of the perception layer of land and air amphibious vehicles (the environment perception system 7 realizes the function of the perception layer and collects environmental information around the vehicle), decision-making algorithms and control strategies, so that the computing platform 4 can realize the space of the vehicle The function of motion trajectory planning and decision formation, based on the formed decision to control the operation of the vehicle. Computing platform 4 can use ADLINK MXE-5400 series industrial computer.
参照图2和图3的示例,电源系统5设置于车体1内。电源系统5可为锂离子电池电源系统,其包括锂离子电池组,为车辆路面行驶或飞行提供充足的动力以及续航。电源系统5与计算平台4通信连接,电源系统5通过串口通信的方式将电池电量信息发送给计算平台4,从而计算平台4可监控电源系统5的工作状态。Referring to the examples of FIGS. 2 and 3, the power supply system 5 is provided in the vehicle body 1. The power supply system 5 may be a lithium-ion battery power supply system, which includes a lithium-ion battery pack, which provides sufficient power and battery life for the vehicle to travel or fly on the road. The power supply system 5 is in communication connection with the computing platform 4, and the power supply system 5 sends battery power information to the computing platform 4 through serial communication, so that the computing platform 4 can monitor the working status of the power supply system 5.
如图2至图5所示,车体1内设置有隔板13,计算平台4、电源系统5可设置于车体1内的隔板13上。As shown in FIGS. 2 to 5, a partition 13 is provided in the vehicle body 1, and the computing platform 4 and the power supply system 5 can be provided on the partition 13 in the vehicle body 1.
参照图4和图5,位姿采集系统6设置于车体1。位姿采集系统6包括惯性导航模块61和GPS定位模块62,惯性导航模块61用于提供车辆的姿态信息,GPS定位模块62用于提供车辆的位置信息。姿态信息包括车辆在飞行时的俯仰角、横滚角以及偏航角。位姿采集系统6的惯性导航模块61和GPS定位模块62与计算平台4通信连接,例如可通过4G网络或WiFi通信连接。从而使计算平台4从惯性导航模块61和GPS定位模块62获取车辆 的姿态信息和位置信息数据并进行处理。4 and 5, the pose acquisition system 6 is installed on the vehicle body 1. The pose acquisition system 6 includes an inertial navigation module 61 and a GPS positioning module 62. The inertial navigation module 61 is used to provide attitude information of the vehicle, and the GPS positioning module 62 is used to provide location information of the vehicle. The attitude information includes the pitch angle, roll angle and yaw angle of the vehicle during flight. The inertial navigation module 61 and the GPS positioning module 62 of the pose acquisition system 6 are in communication connection with the computing platform 4, for example, can be connected via 4G network or WiFi communication. Therefore, the computing platform 4 obtains the posture information and position information data of the vehicle from the inertial navigation module 61 and the GPS positioning module 62 and processes them.
如图4和图5所示,惯性导航模块61设置于车体1内,具体地,惯性导航模块61也可设置于车体1内的隔板13上。惯性导航模块61优选为瑞芬科技公司型号为AH100B的惯性导航模块,具备三轴加速度计和三轴磁传感器辅助三轴陀螺以及温度补偿的算法技术。As shown in FIGS. 4 and 5, the inertial navigation module 61 is arranged in the vehicle body 1, specifically, the inertial navigation module 61 may also be arranged on the partition 13 in the vehicle body 1. The inertial navigation module 61 is preferably an inertial navigation module of Refine Technology Co., Ltd. whose model is AH100B, and is equipped with a three-axis accelerometer and a three-axis magnetic sensor to assist a three-axis gyro and temperature compensation algorithm technology.
如图4和图5所示,GPS定位模块62包括GPS定位器621和GPS定位信号接收器622,GPS定位器621设置于车体1内,GPS定位信号接收器622设置于车体1的顶部,GPS定位器621获取从GPS定位信号接收器接收的车辆位置的定位信号。其中,GPS定位器621可设置于车体1内的隔板(13)上。GPS定位模块62可使用司南公司型号为Mini-M600G的GPS定位模块。As shown in Figures 4 and 5, the GPS positioning module 62 includes a GPS locator 621 and a GPS positioning signal receiver 622. The GPS locator 621 is provided in the vehicle body 1, and the GPS positioning signal receiver 622 is provided on the top of the vehicle body 1. The GPS locator 621 obtains the positioning signal of the vehicle position received from the GPS positioning signal receiver. Wherein, the GPS locator 621 can be arranged on the partition (13) in the vehicle body 1. The GPS positioning module 62 may use a GPS positioning module of the Sinan company model Mini-M600G.
如图2和图3所示,环境感知系统7设置于车体1。环境感知系统7包括激光雷达71、毫米波雷达72以及视觉传感器73。毫米波雷达72用于采集车辆飞行过程中车体与地面的相对位置信息,激光雷达71和视觉传感器73用于获取车辆前方的目标信息和路况信息。其中目标包括静止的物体和运动的物体,例如建筑、障碍物、行人、车辆等。目标信息例如包括建筑或障碍物的距离和方位信息、运动的车辆的距离、速度以及方位信息等。路况信息包括可行驶区域、路面车道线、交通标志以及信号灯信息等。在图中所示的示例中,激光雷达71、毫米波雷达72以及视觉传感器73都设置于车体1的前部。具体地,车体1的前部可设置有前平台12,激光雷达71、毫米波雷达72以及视觉传感器73设置于车体1的前平台12。激光雷达71能够对车前向180°距离车辆一定距离内(取决于具体所使用的激光雷达71,使用速腾聚创公司的型号为RS-LiDAR-16多线激光雷达,探测距离为100m内)的目标信息进行探测。视觉传感器73优选为单目摄像头。激光雷达71可采用速腾聚创公司的型号为RS-LiDAR-16多线激光雷达。毫米波雷达72可采用Delphi公司的ESR 2.5毫米波雷达。视觉传感器73可采用英特尔公司的型号为RealSense D415的摄像头。激光雷达71、毫米波雷达72以及视觉传感器73也可分布式设置,例如,激光雷达71可设置于车体1的顶部,毫米波雷达72可设置于车体1的底部或飞行机构2的旋翼臂21上,视觉传感器73可设置于车体1的顶部,以使视觉传感器73能够环视检测。因此,激光雷达71、毫米波雷达72以及视觉传感器73的位置可以根据具体需求(例如 需要雷达和视觉传感器探测的范围)任意设置。如果需要,环境感知系统7还可包括用于航拍的车底摄像头。As shown in FIG. 2 and FIG. 3, the environment sensing system 7 is installed in the vehicle body 1. The environment sensing system 7 includes a laser radar 71, a millimeter wave radar 72, and a vision sensor 73. The millimeter wave radar 72 is used to collect the relative position information of the vehicle body and the ground during the flight of the vehicle, and the lidar 71 and the visual sensor 73 are used to obtain target information and road condition information in front of the vehicle. The targets include stationary objects and moving objects, such as buildings, obstacles, pedestrians, and vehicles. Target information includes, for example, distance and orientation information of buildings or obstacles, distance, speed, and orientation information of moving vehicles. Road condition information includes drivable areas, road lane lines, traffic signs, and signal light information. In the example shown in the figure, the lidar 71, the millimeter wave radar 72, and the vision sensor 73 are all provided in the front of the vehicle body 1. Specifically, the front part of the vehicle body 1 may be provided with a front platform 12, and the lidar 71, the millimeter wave radar 72 and the vision sensor 73 are provided on the front platform 12 of the vehicle body 1. The lidar 71 can be within a certain distance of the vehicle forward 180° from the vehicle (depending on the specific lidar 71 used, the model of the company is RS-LiDAR-16 multi-line lidar, and the detection distance is within 100m) The target information is detected. The vision sensor 73 is preferably a monocular camera. The lidar 71 can use the model RS-LiDAR-16 multi-line lidar of Sagitar Juchuang. The millimeter wave radar 72 can use Delphi’s ESR 2.5 millimeter wave radar. The vision sensor 73 can be a RealSense D415 camera of Intel Corporation. The lidar 71, millimeter wave radar 72, and vision sensor 73 can also be arranged in a distributed manner. For example, the lidar 71 can be arranged on the top of the car body 1, and the millimeter wave radar 72 can be arranged on the bottom of the car body 1 or the rotor of the flying mechanism 2. On the arm 21, the visual sensor 73 can be arranged on the top of the vehicle body 1, so that the visual sensor 73 can detect around. Therefore, the positions of the laser radar 71, the millimeter wave radar 72, and the vision sensor 73 can be arbitrarily set according to specific requirements (for example, the detection range of the radar and the vision sensor). If necessary, the environment sensing system 7 may also include an under-vehicle camera for aerial photography.
环境感知系统7的激光雷达71、毫米波雷达72以及视觉传感器73分别与计算平台4通信连接,分别通过以太网、CAN总线、USB进行通信连接,从而使计算平台4从激光雷达71、毫米波雷达72以及视觉传感器73获取车辆周围的环境信息,经过计算平台4处理后用于计算平台4的空间运动决策和轨迹规划。The lidar 71, millimeter-wave radar 72, and vision sensor 73 of the environmental sensing system 7 are respectively connected to the computing platform 4, and are respectively connected through Ethernet, CAN bus, and USB, so that the computing platform 4 is separated from the lidar 71, millimeter wave The radar 72 and the vision sensor 73 obtain environmental information around the vehicle, and are processed by the computing platform 4 and used for the spatial motion decision and trajectory planning of the computing platform 4.
参照图2至图5所示的示例,飞行控制系统优选设置于车体1的顶部。具体地,车体1的顶部设置有上平台11,飞行控制系统设置于上平台11内。飞行控制系统与电子调速器223连接(例如通过总线连接)。飞行控制系统控制电子调速器223对旋翼电机222进行调速,旋翼电机222驱动旋翼221转动,从而实现车辆的飞行。此外,电子调速器获取旋翼电机222的工作和状态信息,并通过总线向飞行控制系统反馈旋翼电机222的工作状态信息。飞行控制系统为集成电路板,集成包括单片机控制器(未示出,例如型号为STM32F429的单片机控制器)、姿态检测传感器(未示出,例如型号为MPU9250的姿态检测传感器)、气压传感器(未示出,例如型号为GY-BMP280-3.3的气压传感器)以及其他外围电路(未示出)等。单片机控制器用来接收由计算平台4发送的控制指令、数据处理以及向飞行机构2发送控制指令;姿态检测传感器用来获取车辆在飞行过程中的实时姿态,气压传感器用来采集车辆飞行过程中的实时气压,单片机控制器接收由计算平台4发送的控制指令,结合车辆当前飞行过程中的实时信息(实时姿态、实时气压),经处理计算生成控制指令,控制电子调速器223,从而实现飞行控制系统对飞行机构2执行飞行的控制功能。Referring to the examples shown in FIGS. 2 to 5, the flight control system is preferably provided on the top of the vehicle body 1. Specifically, an upper platform 11 is provided on the top of the vehicle body 1, and the flight control system is provided in the upper platform 11. The flight control system is connected to the electronic governor 223 (for example, connected via a bus). The flight control system controls the electronic governor 223 to adjust the speed of the rotor motor 222, and the rotor motor 222 drives the rotor 221 to rotate, thereby realizing the flight of the vehicle. In addition, the electronic governor obtains the operating and status information of the rotor motor 222, and feeds back the operating status information of the rotor motor 222 to the flight control system through the bus. The flight control system is an integrated circuit board, which integrates a single-chip microcomputer controller (not shown, such as the STM32F429 single-chip controller), an attitude detection sensor (not shown, such as an MPU9250 attitude detection sensor), and an air pressure sensor (not shown) Shown, for example a barometric pressure sensor with model GY-BMP280-3.3) and other peripheral circuits (not shown). The single-chip controller is used to receive the control instructions sent by the computing platform 4, data processing, and send control instructions to the flight mechanism 2; the attitude detection sensor is used to obtain the real-time attitude of the vehicle during flight, and the air pressure sensor is used to collect the vehicle's flight For real-time air pressure, the single-chip controller receives the control instructions sent by the computing platform 4, combines the real-time information (real-time attitude, real-time air pressure) during the current flight of the vehicle, generates control instructions after processing and calculation, and controls the electronic governor 223, thereby achieving flight The control system performs flight control functions for the flight mechanism 2.
在本发明的陆空两栖无人驾驶平台中,底盘控制系统8设置于车体1或行车机构3。如图2和图4所示,底盘控制系统8设置于行车机构3的底盘31。底盘控制系统8与转向电机321和驱动电机331连接(例如通过总线连接)。底盘控制系统8控制转向结构32的转向电机321和驱动结构33的驱动电机331,驱动电机331带动驱动轮36旋转,从而驱动车辆在路面行驶,转向电机321带动转向轮35旋转,从而实现车辆在路面行驶时的转向。底盘控制系统8为集成电路板,集成包括单片机控制器(未示出,例如型号为 STM32F429的单片机控制器)以及用于驱动电机(驱动电机331和转向电机321)的驱动电路以及其他外围电路(未示出)等。单片机控制器接收由计算平台4发送的控制指令并进行处理,输出的信号作用于驱动电路,驱动电路用来驱动驱动电机331和转向电机321,以使驱动电机331和转向电机321带动驱动轮36和转向轮35旋转,驱动电机331和转向电机321中都包括编码器,编码器用来采集驱动电机331和转向电机321的转速信息并发送给单片机控制器,从而实现底盘控制系统8对行车机构3执行路面行驶的控制功能。In the land-air amphibious unmanned platform of the present invention, the chassis control system 8 is provided on the vehicle body 1 or the driving mechanism 3. As shown in FIGS. 2 and 4, the chassis control system 8 is provided on the chassis 31 of the driving mechanism 3. The chassis control system 8 is connected to the steering motor 321 and the driving motor 331 (for example, connected via a bus). The chassis control system 8 controls the steering motor 321 of the steering structure 32 and the drive motor 331 of the drive structure 33. The drive motor 331 drives the drive wheel 36 to rotate, thereby driving the vehicle to travel on the road, and the steering motor 321 drives the steering wheel 35 to rotate, thereby realizing the vehicle movement The steering when driving on the road. The chassis control system 8 is an integrated circuit board, which integrates a single-chip controller (not shown, such as a single-chip controller with a model of STM32F429), a driving circuit for driving the motor (driving motor 331 and steering motor 321) and other peripheral circuits ( Not shown) and so on. The single-chip controller receives and processes the control instructions sent by the computing platform 4, and the output signals act on the drive circuit. The drive circuit is used to drive the drive motor 331 and the steering motor 321, so that the drive motor 331 and the steering motor 321 drive the drive wheel 36 And the steering wheel 35 rotate, the drive motor 331 and the steering motor 321 both include an encoder, the encoder is used to collect the speed information of the drive motor 331 and the steering motor 321 and send it to the microcontroller controller, so as to realize the chassis control system 8 to the driving mechanism 3 Perform road driving control functions.
参照图2至图5所示的示例,陆空两栖无人驾驶平台还可包括4G通信系统9,计算平台4通过4G通信系统9与外部的远程终端通信连接。计算平台4能够将获取的电源控制系统5的工作状态数据、车辆的姿态信息和位置信息数据以及车辆周围的环境信息数据发送给远程终端,远程终端包括服务器,服务器可保存这些数据并进行分析,远程终端还可包括人机交互界面,以实时显示这些数据,使操作人员能够实时监控车辆的状态,包括车辆的运行状态(飞行或路面行驶)、电源控制系统5的工作状态、车辆的姿态和位置以及车辆前方的路况信息、可行驶区域、旋翼电机222的工作状态以及转向电机321和驱动电机331的工作状态等。Referring to the examples shown in FIGS. 2 to 5, the land-air amphibious unmanned driving platform may further include a 4G communication system 9, and the computing platform 4 is communicatively connected to an external remote terminal through the 4G communication system 9. The computing platform 4 can send the acquired working status data of the power control system 5, the posture information and position information data of the vehicle, and the environmental information data around the vehicle to a remote terminal. The remote terminal includes a server, and the server can save and analyze these data. The remote terminal can also include a human-computer interaction interface to display these data in real time, enabling the operator to monitor the status of the vehicle in real time, including the operating status of the vehicle (flight or road driving), the working status of the power control system 5, the posture of the vehicle, and The position and road condition information in front of the vehicle, the drivable area, the working state of the rotor motor 222, the working state of the steering motor 321 and the driving motor 331, and so on.
在本发明的陆空两栖无人驾驶平台中,位姿采集系统6的惯性导航模块61和GPS定位模块62提供给计算平台4车辆的姿态信息和位置信息,环境感知系统7的激光雷达71、毫米波雷达72以及视觉传感器73提供给计算平台4车辆的周围的环境信息,包括车辆前方的目标信息、路况信息以及车体与地面的相对位置信息。计算平台4能够对这些信息进行处理并进行车辆的空间运动轨迹规划,形成自主导航决策,从而生成控制指令。然后计算平台4向底盘控制系统8和/或飞行控制系统发送控制指令,使底盘控制系统8控制转向结构32的转向电机321和驱动结构33的驱动电机331,转向电机321带动转向轮35旋转、驱动电机331带动驱动轮36转向,从而实现车辆路面行驶;使飞行控制系统控制电子调速器223对旋翼电机222进行调速,旋翼电机222驱动旋翼221转动,从而实现车辆的飞行。计算平台4根据所规划的车辆的空间运动轨迹通过底盘控制系统8控制行车机构3和飞行控制系统控制飞行机构2,实现车辆空间自主驾驶和自主导航的功能,从而本发明的 陆空两栖无人驾驶平台能够为陆空两栖车辆的空间感知、运动轨迹规划和自主导航决策的研究提供硬件试验条件。In the land-air amphibious unmanned platform of the present invention, the inertial navigation module 61 and the GPS positioning module 62 of the pose acquisition system 6 provide the posture information and position information of the vehicle on the computing platform 4, the lidar 71 of the environmental perception system 7, The millimeter wave radar 72 and the visual sensor 73 provide the computing platform 4 with environmental information around the vehicle, including target information in front of the vehicle, road condition information, and relative position information between the vehicle body and the ground. The computing platform 4 can process this information and plan the space movement trajectory of the vehicle to form autonomous navigation decisions, thereby generating control instructions. Then the computing platform 4 sends control instructions to the chassis control system 8 and/or the flight control system, so that the chassis control system 8 controls the steering motor 321 of the steering structure 32 and the driving motor 331 of the drive structure 33, and the steering motor 321 drives the steering wheel 35 to rotate, The driving motor 331 drives the driving wheels 36 to steer, so as to realize the road running of the vehicle; the flight control system controls the electronic governor 223 to adjust the speed of the rotor motor 222, and the rotor motor 222 drives the rotor 221 to rotate, thereby realizing the flight of the vehicle. The computing platform 4 controls the driving mechanism 3 and the flight control system to control the flight mechanism 2 through the chassis control system 8 according to the planned space motion trajectory of the vehicle, so as to realize the functions of autonomous driving and autonomous navigation of the vehicle space, thus the land-air amphibious unmanned vehicle of the present invention The driving platform can provide hardware test conditions for the research of space perception, motion trajectory planning and autonomous navigation decision-making of land and air amphibious vehicles.
上面详细的说明描述多个示范性实施例,但本文不意欲限制到明确公开的组合。因此,除非另有说明,本文所公开的各种特征可以组合在一起而形成出于简明目的而未示出的多个另外组合。The above detailed description describes a number of exemplary embodiments, but this document is not intended to be limited to explicitly disclosed combinations. Therefore, unless otherwise stated, the various features disclosed herein can be combined together to form multiple additional combinations not shown for the purpose of brevity.
以上所述仅为本申请的优选实施例而已,并不用于限制本申请,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims (10)

  1. 一种陆空两栖无人驾驶平台,其特征在于,包括车体(1)、飞行机构(2)、行车机构(3)、计算平台(4)、电源系统(5)、位姿采集系统(6)、环境感知系统(7)、底盘控制系统(8)以及飞行控制系统;A land-air amphibious unmanned platform, which is characterized by comprising a vehicle body (1), a flying mechanism (2), a driving mechanism (3), a computing platform (4), a power supply system (5), and a pose acquisition system ( 6), environmental perception system (7), chassis control system (8) and flight control system;
    飞行机构(2)设置于车体(1)的上方,用于实现车辆的飞行;The flying mechanism (2) is arranged above the vehicle body (1) for realizing the flight of the vehicle;
    行车机构(3)设置于车体(1)的下方,用于实现车辆的路面行驶;The driving mechanism (3) is arranged under the vehicle body (1) and is used to realize the road driving of the vehicle;
    计算平台(4)和电源系统(5)设置于车体(1);The computing platform (4) and the power supply system (5) are arranged on the car body (1);
    位姿采集系统(6)和环境感知系统(7)通信连接于计算平台(4);The pose acquisition system (6) and the environment perception system (7) are connected to the computing platform (4) in communication;
    底盘控制系统(8)通信连接于行车机构(3)和计算平台(4);飞行控制系统通信连接于飞行机构(2)和计算平台(4);The chassis control system (8) is communicatively connected to the driving mechanism (3) and the computing platform (4); the flight control system is communicatively connected to the flight mechanism (2) and the computing platform (4);
    电源系统(5)用于为车辆提供动力和续航,底盘控制系统(8)用于控制行车机构(3)实现车辆的路面行驶,飞行控制系统用于控制飞行机构(2)实现车辆的飞行,位姿采集系统(6)用于获取车辆的姿态信息和位置信息,环境感知系统(7)用于获取车辆周围的环境信息,计算平台(4)用于处理车辆的姿态信息和位置信息以及车辆周围的环境信息并完成车辆的空间运动决策和轨迹规划。The power supply system (5) is used to provide power and endurance for the vehicle, the chassis control system (8) is used to control the driving mechanism (3) to realize the road travel of the vehicle, and the flight control system is used to control the flight mechanism (2) to realize the flight of the vehicle. The pose acquisition system (6) is used to obtain the attitude information and position information of the vehicle, the environment perception system (7) is used to obtain the environmental information around the vehicle, and the computing platform (4) is used to process the attitude information and position information of the vehicle and the vehicle Surrounding environment information and complete the vehicle's spatial motion decision and trajectory planning.
  2. 根据权利要求1所述的陆空两栖无人驾驶平台,其特征在于,飞行控制系统设置于车体(1)的顶部。The land-air amphibious unmanned platform according to claim 1, wherein the flight control system is arranged on the top of the vehicle body (1).
  3. 根据权利要求1所述的陆空两栖无人驾驶平台,其特征在于,环境感知系统(7)包括激光雷达(71)、毫米波雷达(72)以及视觉传感器(73),毫米波雷达(72)用于采集车辆飞行过程中车体(1)与地面的相对位置信息,激光雷达(71)和视觉传感器(73)用于获取车辆前方的目标信息和路况信息。The land-air amphibious unmanned platform according to claim 1, characterized in that the environmental perception system (7) includes a laser radar (71), a millimeter wave radar (72) and a vision sensor (73), and a millimeter wave radar (72) ) Is used to collect the relative position information of the vehicle body (1) and the ground during the flight of the vehicle, and the lidar (71) and the visual sensor (73) are used to obtain target information and road condition information in front of the vehicle.
  4. 根据权利要求3所述的陆空两栖无人驾驶平台,其特征在于,激光雷达(71)、毫米波雷达(72)以及视觉传感器(73)分别设置于车体(1)的前部。The land-air amphibious unmanned platform according to claim 3, characterized in that the lidar (71), millimeter wave radar (72) and vision sensor (73) are respectively arranged on the front of the vehicle body (1).
  5. 根据权利要求1所述的陆空两栖无人驾驶平台,其特征在于,位姿采集系统(6)包括惯性导航模块(61)和GPS定位模块(62),惯性导航模块(61)用于提供车辆的姿态信息,GPS定位模块(62)用于提供车辆的位置信息。The land-air amphibious unmanned platform according to claim 1, wherein the pose acquisition system (6) includes an inertial navigation module (61) and a GPS positioning module (62), and the inertial navigation module (61) is used to provide The GPS positioning module (62) is used to provide the position information of the vehicle.
  6. 根据权利要求5所述的陆空两栖无人驾驶平台,其特征在于,惯性导航模块(61)设置于车体(1)内;GPS定位模块(62)包括GPS定位器(621)和GPS定位信号接收器(622),GPS定位器(621)设置于车体(1)内,GPS定位信号接收器(622)设置于车体(1)的顶部,GPS定位器(621)获取从GPS定位信号接收器接收的车辆位置的定位信号。The land-air amphibious unmanned platform according to claim 5, characterized in that the inertial navigation module (61) is arranged in the vehicle body (1); the GPS positioning module (62) includes a GPS locator (621) and GPS positioning The signal receiver (622), the GPS locator (621) are installed in the car body (1), the GPS positioning signal receiver (622) is installed on the top of the car body (1), and the GPS locator (621) obtains the positioning from the GPS The positioning signal of the vehicle position received by the signal receiver.
  7. 根据权利要求1所述的陆空两栖无人驾驶平台,其特征在于,飞行机构(2)包括旋翼臂(21)和旋翼结构(22);The land-air amphibious unmanned platform according to claim 1, wherein the flight mechanism (2) includes a rotor arm (21) and a rotor structure (22);
    旋翼臂(21)沿车体(1)的周向(C)间隔设置,旋翼臂(21)具有固定端(21a),旋翼臂(21)的固定端(21a)连接于车体(1)的顶部,旋翼结构(22)设置于旋翼臂(21)上。The rotor arms (21) are arranged at intervals along the circumference (C) of the car body (1), the rotor arms (21) have a fixed end (21a), and the fixed end (21a) of the rotor arm (21) is connected to the car body (1) The rotor structure (22) is arranged on the rotor arm (21).
  8. 根据权利要求7所述的陆空两栖无人驾驶平台,其特征在于,旋翼结构(22)包括旋翼(221)、旋翼电机(222)以及电子调速器(223),电子调速器223安装在旋翼臂(21))上,旋翼电机(222)连接于电子调速器223,旋翼(221)安装在旋翼电机(222)上。The land-air amphibious unmanned platform according to claim 7, wherein the rotor structure (22) includes a rotor (221), a rotor motor (222), and an electronic governor (223), and the electronic governor 223 is installed On the rotor arm (21)), the rotor motor (222) is connected to the electronic governor 223, and the rotor (221) is installed on the rotor motor (222).
  9. 根据权利要求1所述的陆空两栖无人驾驶平台,其特征在于,行车机构(3)包括底盘(31)、转向结构(32)、驱动结构(33)、连接架(34)、转向轮(35)以及驱动轮(36);The land-air amphibious unmanned platform according to claim 1, wherein the driving mechanism (3) includes a chassis (31), a steering structure (32), a driving structure (33), a connecting frame (34), and steering wheels (35) and driving wheel (36);
    转向轮(35)和驱动轮(36)连接在底盘(31)的两端;The steering wheel (35) and the driving wheel (36) are connected to the two ends of the chassis (31);
    转向结构(32)与转向轮(35)连接,驱动结构(33)与驱动轮(36)连接;The steering structure (32) is connected with the steering wheel (35), and the driving structure (33) is connected with the driving wheel (36);
    连接架(34)连接底盘(31)和车体(1)。The connecting frame (34) connects the chassis (31) and the vehicle body (1).
  10. 根据权利要求1所述的陆空两栖无人驾驶平台,其特征在于,底盘控制系统(8)设置于车体(1)或行车机构(3)。The land-air amphibious unmanned platform according to claim 1, wherein the chassis control system (8) is arranged on the vehicle body (1) or the driving mechanism (3).
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