Aerial-sea-underwater multi-robot remote stereo cooperative control system and control method thereof

Abstract

The invention discloses an aerial-sea-underwater multi-robot remote stereo cooperative control system and a control method thereof. The system comprises an aerial robot, a sea surface robot and an underwater robot. The aerial robot comprises an aerial robot environment perception module, an aerial robot data acquisition module and an aerial robot remote control module. The sea surface robot comprises a sea surface robot environment perception module, a sea surface robot data acquisition module, a sea surface robot remote control module and a cooperative control module. The underwater robot comprises an underwater robot environment perception module, an underwater robot data acquisition module and an underwater robot remote control module. The system integrates the aerial robot, the sea surface robot and the underwater robot, uses remote control to realize remote control and information transmission between each robot and the overland host computer and realizes cooperative and efficientwork.

Description

technical field [0001] The present invention relates to the technical field of marine robots, in particular to a remote three-dimensional collaborative control system and control method for multi-robots in the air, sea, surface, and underwater. Background technique [0002] At present, with the rapid development of our country's economy and the development and progress of science and technology, a single air space, sea surface space or seabed space can no longer satisfy people's scientific exploration and applications in all aspects of daily life, whether it is the sky, The sea surface or the bottom of the sea, human activities are becoming more and more frequent, and the scenes are becoming more and more complex and diverse. Robots with various functions have emerged as the times require. They replace humans in all aspects of production and life and play diverse roles, providing society with With convenience, people's safety is more guaranteed. For now, single-function rob...

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Problems solved by technology

[0003] Existing marine robots have the following deficiencies: (1) Conventional unmanned aerial vehicles, unmanned ships, and unmanned boats have limited working ranges, and the working areas that can be reached can only be limited to the air, sea surface or underwater, and cannot Carry out very good trajectory tracking, tracking and shooting and other types of tasks; (2) due to the limitations of the above-mentioned working environments, multi-robots are controlled separately through each part of the terminal, and cannot communicate well, or there will be delays in information transmission and processing , causing unnecessary losses; (3) Conventional single-function robots have mobile information exchange platforms at sea, such as large carriers such as manned ships, and the communication distance is not very far, using mobile networks or radio communications (such as CDMA, GPRS, 4G), but due to the use of remote control, there is no such condition, and due to the limitation of communication distance, this communication method cannot be used for data communication in deep sea; (4) Conventional drones, unmanned ships, and unmanned boats The problem of robot power consumption is a difficult point. The offshore environment is complex, and it is difficult to recharge manually after recycling.

[0004] To sum up, due to the current application in the field of marine robots, the application method is relatively single, and can only complete a single underwater work, sea surface work or aerial work, and the various robot controls used in it are too cumbersome , with different functions, several control terminals are required to cooperate with the work, and the coordination between each unit is very poor, which will greatly reduce the manpower, material resources and work efficiency required to complete the work. Therefore, it is necessary to design a marine aspect multi-robot collaborative control system

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