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Autonomous obstacle-avoiding land-air amphibious device and control method thereof

An obstacle-land-air, controller technology, applied in three-dimensional position/channel control, two-dimensional position/channel control, etc., can solve the problem of multi-modal maneuver obstacle avoidance that cannot be automatically switched between land and air modes, and improve driving safety. performance, improve mobility, and reduce computational complexity

Active Publication Date: 2022-07-22
北京理工大学重庆创新中心
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the ground driving obstacle avoidance function and the air flight obstacle avoidance function in the current land-air amphibious equipment autonomous obstacle avoidance system operate independently, and cannot automatically switch between land and air modes to achieve multi-modal maneuvering obstacle avoidance
Therefore, the autonomous obstacle avoidance function of land and air amphibious equipment only uses a single maneuverability in the current operating mode to avoid obstacles

Method used

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  • Autonomous obstacle-avoiding land-air amphibious device and control method thereof
  • Autonomous obstacle-avoiding land-air amphibious device and control method thereof
  • Autonomous obstacle-avoiding land-air amphibious device and control method thereof

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Embodiment 1

[0048] see figure 1 , the present invention provides an embodiment of an autonomous obstacle avoidance land and air amphibious device, which includes a central controller, a radar or a camera, an inertial navigation system, two drive motors, two drive motor controllers, two sets of crawlers, four Rotor motors, four rotor motor controllers, four rotors, battery system.

[0049] The two drive motors include: left drive motor, right drive motor;

[0050] The two drive motor controllers include: left drive motor controller, right drive motor controller;

[0051] Two sets of tracks include: left track, right track;

[0052] The four rotor motors include: left front rotor motor, right front rotor motor, left rear rotor motor, and right rear rotor motor;

[0053] The four rotor motor controllers include: left front rotor motor controller, right front rotor motor controller, left rear rotor motor controller, and right rear rotor motor controller;

[0054] Four rotors include: left...

Embodiment 2

[0083] see image 3 , the present invention also provides an embodiment of a control method for an autonomous obstacle avoidance land-air amphibious device, the method comprising the following steps:

[0084] S1. Acquire the drivable area on the ground, the traversable area in the air, and the running state of the device, and establish a three-dimensional map of the environment where the device is located.

[0085] Specifically, through the environmental point cloud\depth information collected by the radar or camera of the obstacle avoidance amphibious device, the ground drivable area and the air traversable area of ​​the obstacle avoidance amphibious device can be obtained.

[0086] S2. According to the three-dimensional map of the environment where the device is located, the optimal flight trajectory and the optimal driving trajectory of the device are respectively planned, and the optimal trajectory of the device is obtained by comparison.

[0087] According to the three-d...

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Abstract

The invention discloses an autonomous obstacle avoidance air-ground amphibious device and a control method thereof, and the control method comprises the following steps: obtaining a ground travelable region, an air passable region and an operation state of the device, and building a three-dimensional map of an environment where the device is located; according to the three-dimensional map of the environment where the device is located, the optimal flight track and the optimal driving track of the device are planned, and the optimal track of the device is obtained through comparison; according to the optimal track, the flight control quantity and the driving control quantity of the device are obtained. The two maneuvering modes of ground running and air flying of the land-air amphibious equipment can be automatically switched, multi-mode maneuvering obstacle avoidance of the land-air amphibious equipment under the emergency condition is completed, and the running safety of the land-air amphibious equipment is effectively improved.

Description

technical field [0001] The invention relates to the technical field of equipment motion control, in particular to an autonomous obstacle avoidance land and air amphibious device and a control method thereof. Background technique [0002] Land and air amphibious equipment is a new type of vehicle with vertical take-off and landing flight capability and ground driving capability, and is the main carrier of future three-dimensional transportation. Its air flight capability is realized by the equipped multi-rotor flight system, and the ground travel capability is realized by the equipped crawler travel system. The land-air amphibious equipment can be switched between the flight mode or the driving mode according to the application scenario. [0003] However, at present, the ground driving obstacle avoidance function and the air flight obstacle avoidance function in the autonomous obstacle avoidance system of land and air amphibious equipment operate independently, and the land ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/10
CPCG05D1/0223G05D1/101
Inventor 唐寿星樊伟徐彬刘春桃
Owner 北京理工大学重庆创新中心
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