A floating omnidirectional maneuvering platform for surface clustering, method and application

Abstract

The present invention relates to a floating omnidirectional maneuverable platform, method and application for surface clusters, belonging to the field of cluster intelligence technology; it includes a floating shell, a perception and decision module, a drive execution module and a power supply module. Through the cooperation of each module and in combination with a power distribution method, an omnidirectional maneuverable platform that can be used to verify the self-organizing motion algorithm of clusters in open water environments is obtained. The present invention integrates perception, decision-making and execution into one, and through the combined use of a 360° angle controllable servo and a camera module, it has the ability to actively perceive environmental information at 360°; the perception and decision circuit board has a built-in cluster self-organizing motion control algorithm, and the drive execution circuit board has a built-in thrust distribution algorithm. Combined with three propeller thrusters distributed at 120° intervals, it has the ability to move omnidirectionally on the water surface. It has the advantages of stable operation, strong flexibility and easy development, good engineering application value, and helps to improve the portability of cluster algorithms to machine clusters.

Description

Technical Field

[0001] The present invention belongs to the field of swarm intelligence technology, and in particular relates to a floating omnidirectional maneuverable platform for water surface swarming, a method and an application thereof. Background Art

[0002] Intelligent mobile robots are integrated systems capable of environmental perception, dynamic decision-making and planning, and behavioral control and execution. They integrate research findings from multiple disciplines, including sensor technology, automated control engineering, and artificial intelligence. They are currently one of the most actively developing areas of science and technology, finding widespread application in industries such as industry, agriculture, healthcare, and services.

[0003] For complex application scenarios, multi-robot collaboration is gradually replacing single robots as an effective way to improve task execution efficiency. Traditional centralized control approaches centrally plan the behavior of all robots based on the system state, which to some extent solves the problem of multi-robot coordination. However, when the system scales up, centralized control approaches face numerous challenges, such as insufficient fault tolerance, where a few individual failures can cause system failure, a sharp increase in computational overhead, and difficulty in responding to unexpected events. Therefore, in complex scenarios, multi-robot collaboration must be based on cluster self-organizing motion control algorithms.

[0004] The process from swarm control algorithm design to application is: 1. Swarm control algorithm design -> 2. Computer simulation verification (MATLAB, Python, WeBots, Gazebo) -> 3. Robot verification -> 4. Real-world application. Swarm control algorithms control multiple individuals to complete a task or directly exploit properties that emerge from self-organized motion. In both computer simulation and robot verification, the larger the number of individuals (typically dozens to hundreds), the better and more convincing the algorithm verification results. The experimental platform used for robot verification must possess a simple and reliable structure, low cost (easily mass-produced), and ease of development (suitable for verifying multiple algorithms). Currently, verification of self-organizing motion control algorithms for swarm robots is mostly conducted using desktop wheeled robots, such as Jasmine, E-puck, Kilobot, Alice, and Swarm-bot. However, the effectiveness and transferability of the swarm self-organizing motion control algorithms designed by researchers for aquatic environments cannot be directly verified using desktop wheeled robots. If unmanned boats are used to verify cluster algorithms, the cost is too high. The cost of unmanned boats is several times the cost of the present invention (some unmanned boats are dozens of times); and centralized deployment is difficult, so they cannot be directly used for cluster algorithm verification work); the power type of wheeled robots / unmanned boats is under-actuated (incapable of lateral movement) and has a turning radius. Some algorithms are based on particle models (or particle models, in which such particles can move in all directions) in the design phase. When under-actuated robots are used directly, the algorithm needs to be modified secondary, and the effectiveness and transferability of the algorithm will be compromised in the physical verification phase.

[0005] Therefore, designing and implementing a swarm robot system for water surface environments is an essential foundation for studying and verifying the swarm self-organizing motion algorithm in water surface environments, which requires a water surface robot with reliable performance and easy development and use. Summary of the Invention

[0006] Technical issues to be solved:

[0007] In order to avoid the shortcomings of the existing technology, the present invention provides a floating omnidirectional maneuverable platform, method and application for surface clusters, including a floating shell, a perception and decision module, a drive execution module and a power supply module. Through the cooperation of each module and combined with the power distribution method, an omnidirectional maneuverable platform that can be used to verify the self-organizing motion algorithm of clusters in open water environments is obtained. The present invention integrates perception, decision-making and execution into one. By combining the use of a 360° angle controllable servo and a camera module, it has the ability to actively perceive environmental information in 360°; the perception and decision circuit board has a built-in cluster self-organizing motion control algorithm, and the drive execution circuit board has a built-in thrust distribution algorithm. Combined with three propeller thrusters distributed at 120° intervals, it has the ability to move omnidirectionally on the water surface; at the same time, the use of a floating structure and a large-capacity lithium battery can support the long-term verification of the cluster self-organizing motion control algorithm. It has the advantages of stable operation, strong flexibility and easy development, good engineering application value, and helps to improve the portability of cluster algorithms to machine clusters.

[0008] The technical solution of the present invention is: a floating omnidirectional maneuverable platform for water surface clustering, characterized by comprising a floating shell, a perception and decision module, a drive execution module and a power supply module;

[0009] The floating shell is used to carry other modules and provide buoyancy for the floating omnidirectional maneuverable platform;

[0010] The perception decision module combines the acquired environmental information and its own position and posture information with the cluster self-organizing motion control algorithm to obtain motion control instructions, and sends the motion control instructions to the drive execution module;

[0011] The drive execution module combines the received motion control instructions with the built-in thrust distribution method to output different PWM waves to the drive execution components, thereby realizing the omnidirectional movement of the floating omnidirectional maneuverable platform on the water surface;

[0012] The power supply module is used for power supply control of the floating omnidirectional mobile platform.

[0013] A further technical solution of the present invention is that the floating shell includes a loading shell and a top cover, the loading shell is a rotating body cavity structure with an open upper end, and the top cover is sealed and installed at its open end to form an integrated sealing structure.

[0014] A further technical solution of the present invention is that the perception and decision module includes a 360° angle controllable servo, a camera module fixing bracket, a camera module and a perception and decision circuit board;

[0015] The camera module is mounted on a 360° controllable servo via a camera module fixing bracket and is connected to a perception and decision-making circuit board to sense and transmit environmental information to the perception and decision-making circuit board. The environmental information includes water surface obstacles and the spatial distribution of other individuals.

[0016] The 360° angle controllable servo is installed on the outer end surface of the top cover, which can control the rotation of the camera module within the range of 0-360 degrees and detect the current angle through the potentiometer carried by it;

[0017] The perception and decision-making circuit board is installed in the floating shell through a pod bracket, and includes a first micro-central processing unit, a position perception module, a posture perception module, a communication networking module, and a universal serial interface; the position perception module, the posture perception module, the communication networking module, and the universal serial interface are respectively connected to the first micro-central processing unit; the first micro-central processing unit is used to collect and process data from the position perception module, the posture perception module, and the camera module, and send motion control instructions to the drive execution module in combination with the onboard cluster self-organizing motion control algorithm.

[0018] A further technical solution of the present invention is that: the position sensing module integrates a radio frequency chip, a baseband chip and a core CPU, and is used to obtain the longitude and latitude information of the floating omnidirectional mobile platform itself;

[0019] The attitude sensing module is used to obtain the yaw angle, pitch angle, roll angle of the floating omnidirectional maneuverable platform and the deflection angle of the omnidirectional maneuverable platform relative to the true north;

[0020] The communication networking module adopts a half-duplex communication mode, and is used for the floating mobile platform to communicate with other individuals in an ad hoc network, return status information to the host computer that controls the floating omnidirectional mobile platform, and receive control instructions from the host computer;

[0021] The universal serial interface is used for connection with other components and information transmission.

[0022] A further technical solution of the present invention is that: the drive execution module includes a drive execution circuit board and a propeller propeller; three propeller propellers are evenly distributed along the circumference of the floating shell, and their axial height is level with the center of gravity of the floating omnidirectional maneuverable platform;

[0023] The drive execution circuit board is installed below the perception and decision circuit board through multiple fixed copper pillars arranged along the circumference and is located in the floating shell. It includes a second micro-central processing unit and a universal serial interface. The second micro-central processing unit is connected to the three propeller thrusters and the 360-degree angle-controllable servo. It receives motion instructions issued by the perception and decision circuit board through the universal serial interface, and outputs different PWM waves to the three propeller thrusters in combination with the built-in thrust distribution method to control their rotation and provide thrust to ensure the movement of the floating omnidirectional maneuverable platform, and outputs PWM waves to control the rotation of the 360-degree angle-controllable servo.

[0024] A further technical solution of the present invention is: the power module includes a power supply, a power management module, and a power switch, the power supply is installed in a floating housing and connected to the power management module and the power switch;

[0025] The power management module is located on the drive execution circuit board, and the power switch is located on the top cover;

[0026] The power management module reduces the power supply voltage of 12 volts to the operating voltage of 5 volts for the micro central processing unit, and provides 12 volts to the three propeller thrusters; the power supply is controlled by the power switch to close the power supply for the entire floating omnidirectional maneuverable platform.

[0027] A further technical solution of the present invention is: the top cover is used to install the position sensing module antenna, the communication networking module antenna, the 360° angle controllable servo, the power switch, the four-core charging connector, two universal serial interfaces, and the pod bracket; wherein, the position sensing module antenna and the communication networking module antenna are respectively connected to the position sensing module and the communication networking module on the perception decision circuit board; the power switch is used to control the power supply to close the power supply for the entire floating omnidirectional mobile platform; the four-core charging connector is used to provide a charging interface for the power supply; the two universal serial interfaces are respectively connected to the perception decision circuit board and the drive execution circuit board, which are used to burn programs, read data, and provide expansion interfaces for other additional sensors.

[0028] A control method for a floating omnidirectional maneuverable platform facing a water surface cluster, characterized by the following specific steps:

[0029] Step 1: placing the floating omnidirectional mobile platform at a designated location in the water area;

[0030] Step 2: Turn on each module to operating mode. The 360-degree controllable servo controls the rotation of the camera module. The first micro-CPU on the perception and decision-making circuit board collects and processes data from the position perception module, attitude perception module, and camera module. It then uses the cluster self-organizing motion control algorithm to issue motion control instructions to the drive execution module.

[0031] Step 3: The second micro-CPU of the drive execution circuit board receives the motion instructions issued by the perception decision circuit board, and outputs different PWM waves to the three propeller thrusters in combination with the built-in thrust distribution method, controlling their rotation to provide thrust and completing the movement of the floating omnidirectional maneuverable platform.

[0032] A further technical solution of the present invention is: the thrust distribution method is:

[0033] When the sum of the torques of the three propellers is zero, they can normally provide thrust in the specified direction. The expression is:

[0034]

[0035] Where M is the sum of the torques provided by the three propeller thrusters, is the thrust vector generated by propeller i, is the moment radius;

[0036] After neglecting the Z-axis displacement, the above formula is simplified to:

[0037] ∑M Z =F1+F2+F3=0

[0038] Therefore, when the thrust vector to be provided is When the three propeller thrusters are used, they provide the following thrust:

[0039]

[0040] Among them, F need,x for Component of force on the X axis, F need,y for The component of force on the Y axis.

[0041] The invention discloses an application of a floating omnidirectional maneuverable platform for water surface clusters, characterized in that the floating omnidirectional maneuverable platform serves as a robot for verifying the self-organizing motion control calculation of clusters facing the water surface environment.

[0042] Beneficial effects

[0043] The beneficial effects of the present invention are:

[0044] 1) The present invention is small in size (nearly spherical, with a diameter of 320 mm and a height of 260 mm), light in weight (5 kg), and easy to deploy and recover on the water surface. It has the advantages of stable operation, strong flexibility, simple structure, and easy development. At the same time, its floating structure, combined with the large-capacity lithium battery (8000 mAh) it carries, can support long-term verification of the cluster self-organizing motion control algorithm (4 hours), which helps to improve the portability of cluster algorithms for surface environments to machine clusters.

[0045] 2) The present invention integrates perception, decision-making and execution in one. It can perceive its own position, attitude and environmental information through the sensor modules (position perception module, attitude perception module and camera module) it carries, and realize self-organizing network communication between mobile platforms and centralized communication with the host computer through the networking communication module; through three propeller thrusters and a thrust distribution method, it has the ability to move omnidirectionally on the water surface, which is in line with the distributed, flexible and scalable characteristics of cluster self-organizing movement.

[0046] 3) The present invention effectively applies the cluster self-organizing motion control algorithm and thrust distribution method to the surface robot, which can realize the cluster self-organizing motion of the surface robot.

[0047] 4) Preferably, the three propeller thrusters are distributed at 120° intervals, and the axial fixed height is level with the center of gravity of the floating omnidirectional maneuverable platform, which can avoid instability during overall movement and ensure the accuracy of the movement direction.

[0048] The main technical problem to be solved by the present invention is to provide an omnidirectionally movable experimental robot that can be used to verify the cluster control algorithm for the water surface environment, so as to achieve effective verification of the cluster control algorithm under low-cost conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Schematic diagram of the floating omnidirectional maneuvering platform structure; including (a) floating omnidirectional maneuvering platform assembly diagram, (b) floating omnidirectional maneuvering platform parts exploded diagram, (c) propeller thruster distribution diagram, (d) loading shell and propeller thruster connection diagram, (e) top cover layout diagram, (f) cabin connection diagram;

[0050] Figure 2 This is a block diagram of the circuit connections inside the floating omnidirectional maneuverable platform cabin.

[0051] Explanation of reference numerals: 1-floating omnidirectional maneuverable platform, 2-top cover, 3-camera module fixing bracket, 4-camera module, 5-360° angle controllable servo, 6-cabin bracket, 7-perception decision control circuit board, 8-fixed copper column, 9-drive execution circuit board, 10-power supply, 11-loading shell, 12-propeller thruster, 13-power embedded card slot, 14-propeller thruster power line into the loading shell entrance, 15-propeller thruster power line outlet, 16-propeller thruster and loading shell connection direction, 17-position sensing module antenna, 18-universal serial interface 1 (USB interface), 19-universal serial interface Port 1 (USB port), 20-360° angle controllable servo and top cover fixing direction, 21-Camera module fixing bracket and 360° angle controllable servo connection direction, 22-Camera module and camera module fixing bracket fixing direction, 23-Power switch, 24-Four-core charging connector, 25-Communication network module antenna, 26-Fixing culvert for cabin bracket on top cover, 27-Fixing culvert for loading shell and top cover, 28-Fixing culvert for cabin bracket and top cover, 29-Connection direction for cabin bracket and perception decision control circuit board, 30-Connection direction for fixed copper pillar and perception decision circuit, 31-Fixing direction for fixed copper pillar and drive execution circuit. DETAILED DESCRIPTION

[0052] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] This embodiment provides a floating omnidirectional maneuverable platform for surface clusters, and the floating omnidirectional maneuverable platform includes a floating shell, a perception and decision-making module, a drive execution module, and a power supply module. The present invention integrates perception, decision-making, and execution into one, and through the combined use of a 360° angle controllable servo and a camera module, it has the ability to actively perceive environmental information at 360°; the perception and decision-making circuit board has a built-in cluster self-organizing motion control algorithm, and the drive execution circuit board has a built-in thrust distribution algorithm, combined with three propeller thrusters distributed at 120° intervals, it has the ability to move omnidirectionally on the water surface; at the same time, the use of a floating structure and a large-capacity lithium battery can support the long-term verification of the cluster self-organizing motion control algorithm. The present invention has the advantages of stable operation, strong flexibility, and easy development, and has good engineering application value, which helps to improve the portability of cluster algorithms to machine clusters.

[0055] Specific as Figure 1 As shown, this embodiment is a floating omnidirectional maneuverable platform 1 for surface clustering behavior, which includes a loading shell 11, three propeller thrusters 12, a top cover 2, a 360° angle controllable servo 5, a camera module fixing bracket 3, a camera module 4, four pod brackets 6, a perception decision circuit board 7, a drive execution circuit board 9, four fixed copper columns 8, and a power supply 10.

[0056] The loading shell 11 is a hemispherical cavity structure with a diameter of 320 mm and a height of 260 mm. It is made of polylactic acid (PLA) material combined with fused deposition modeling technology (3D printing FDM process). It can provide 14 kg of buoyancy (the floating omnidirectional maneuvering platform weighs 5 kg) and is used to carry the fixed top cover 2, three propeller thrusters 12, power supply 10, and provide buoyancy for the entire floating omnidirectional maneuvering platform. The top cover 2 is connected to the loading shell 11 using 8 bolts to seal the entire floating omnidirectional maneuvering platform; Figure 1 As shown in (c) in the figure, the three propeller thrusters 12 are distributed at 120° intervals and are each fixed to the square protrusion on the outside of the loading shell using four 14 mm M3 screws. The connection method is shown in 16 in Figure (d). To avoid instability during movement, the fixing height is level with the center of gravity of the floating omnidirectional maneuverable platform (at a height of 95 mm); the power supply 10 is embedded in the square slot 13 at the bottom of the loading shell.

[0057] like Figure 1As shown in (c), the three propeller thrusters 12 are distributed at 120° intervals, and adopt entry-level underwater thrusters produced by Rovmaker, with built-in 20A bidirectional brushless motor electronic regulator, operating voltage between 12V (3S) and 24V (6S), maximum power of 300W, weight of 200g, maximum forward thrust of 2kg, maximum reverse thrust of 1.8kg, drive pulse width range of 1000ms (reverse speed maximum, reverse thrust of 1.8kg) to 2000ms (forward speed maximum, forward thrust of 2kg) (1500ms, propeller thruster stops rotating), propeller thruster control signal lines are connected to PB7 (TIM4 CH2), PB8 (TIM4 CH3), PB9 (TIM4 CH4) of the drive execution circuit board 9 respectively. The power supply line is connected to the 12V (3S) interface of the power management module on the drive execution circuit board. It is controlled by the 50Hz PWM wave output by the IO port of the drive execution circuit board. It can provide bidirectional thrust through forward and reverse rotation. Combined with the thrust distribution method built into the drive execution circuit board, it is used to provide the floating omnidirectional maneuvering platform with omnidirectional movement capability on the water surface. The three propeller thrusters can provide a maximum surface movement speed of 3 knots (approximately 1.5 meters / second).

[0058] The thrust distribution method is as follows:

[0059] like Figure 1 As shown in (c), to ensure that the three propellers can normally provide thrust in a certain direction when working, the sum of the torques provided by the three propellers must be zero (if it is not zero, rotation will occur), that is, the following formula must be satisfied:

[0060]

[0061] Where M is the sum of the torques provided by the three propeller thrusters, is the thrust vector generated by thruster i (clockwise is positive), is the moment radius. Because each moment radius relative to the propeller They are all the same, and there is no axial (z-axis) movement. The above formula can be simplified to the following formula in the z-axis plane (perpendicular to the platform and parallel to the base surface of the top cover):

[0062] ∑M Z =F1+F2+F3=0

[0063] When three propeller thrusters need to provide thrust in a certain direction, it can be expressed as:

[0064]

[0065] in is the thrust vector generated by thruster i, Thrust vectoring is provided as needed;

[0066] Will Divided into components on the X-axis and Y-axis (scalar does not contain direction), it satisfies the following equation:

[0067]

[0068] It can also be expressed as:

[0069]

[0070] where θ i The angle between the direction of the thrust i provided by the propeller and the positive direction of the X-axis, where θ1, θ2, and θ3 are 90°, 210°, and 330° respectively (can be α, α+120°, α+240°, where α is any angle from 0° to 360°).

[0071] It can be solved that when the thrust vector required is When , three thrusters are required to provide the following thrusts respectively:

[0072]

[0073] When the thrust is positive, forward rotation provides positive thrust, and when the thrust is negative, reverse rotation provides reverse thrust.

[0074] As shown in (e), the top cover 2 is a disk with a diameter of 300 mm and a thickness of 5 mm, and is made of acrylic material. It is used to fix the position sensing module antenna 17, the communication network module antenna 25, the 360° angle controllable servo 5, the power switch 23, the four-core charging connector 24, two universal serial interfaces (USB interfaces) 18 (19), and the pod bracket (6). The position sensing module antenna 17 and the communication network module antenna 25 are connected to the position sensing module and the communication network module on the control circuit board 7; the power switch 23 is a two-speed rocker switch used to control the power supply for the entire floating omnidirectional mobile platform; the four-core charging connector 24 is a 4-core waterproof plug used to provide a charging interface for the power supply 10; the two universal serial interfaces (USB interfaces) 18 (19) are respectively connected to the perception decision circuit board 7 and the drive execution circuit board 9, and are used to burn programs, read data, and provide expansion interfaces for other additional sensors. To ensure the sealing of the cabin, the four-core charging connector 24 and two universal serial ports (USB ports) 18 (19) need to be covered with a waterproof cover during the experiment.

[0075] The 360° angle controllable servo 5 adopts a 6 kg torque 360° angle controllable servo produced by Fiter Model Aircraft. It can rotate from 0 to 360 degrees and detect the current angle through its own potentiometer. The signal line is connected to PB6 (TIM4 CH1) of the driver execution circuit board port 9. The IO port outputs a PWM wave control with a frequency of 50Hz. The power management module on the driver execution circuit board port 9 outputs 6V power. It is fixed to the top cover by two M3 bolts. The fixing method is shown in Figure 1 (20), for use in combination with the camera module 4.

[0076] The camera module fixing bracket 3 is made of polylactic acid (PLA) material combined with fused deposition modeling technology (3D printing FDM process), and is connected to the camera module 4 and the servo arm of the 360° angle controllable servo 5. It is fixed to the servo arm of the 360° angle controllable servo 5 by using M3 bolts. The fixing method is shown in 21. And the camera module 4 is fixed. The fixing method is shown in Figure 1 (twenty two).

[0077] The camera module 4 adopts the OV7725 camera module module, carries a 300,000-pixel (HD) infrared lens, is fixed on the servo arm of the 360° angle-controllable servo 5 through the camera module fixing bracket 3, and is connected to the IIC1 on the perception decision circuit board 7 through the IIC interface, and is used to perceive environmental information and transmit the environmental information to the perception decision circuit board 7. The environmental information includes but is not limited to water surface obstacles and other individual spatial distributions.

[0078] The pod bracket 6 has a stepped shape and is 4 in number. It is made of polylactic acid (PLA) material combined with fused deposition modeling technology (3D printing FDM process). Through M5 bolts, one end 28 (the culvert for fixing the bracket inside the cabin and the top cover) is connected to the culvert 26 on the top cover (the culvert for fixing the bracket inside the cabin on the top cover), and one end 29 is connected to the perception decision circuit board 7, which is used to fix the perception decision circuit board 7 under the top cover 2.

[0079] like Figure 2As shown, the perception decision circuit board 7 includes a micro-CPU, a position perception module, a posture perception module, a communication networking module, and two universal serial interfaces (USART interfaces). The position perception module, the posture perception module, the communication networking module, and the universal serial interface are directly connected to the micro-CPU respectively; the micro-CPU is an embedded CPU based on a 32-bit ARM architecture of the cortex-M3 core. The micro-CPU runs the front-end and back-end operating systems. The front-end system performs environmental perception and motion decision-making in a polling manner. The back-end system receives information from the host computer in an interrupt manner, which is used to collect and process the data of the position perception module, the posture perception module, and the camera module and send motion control instructions to the drive execution circuit board in combination with the cluster self-organizing motion control algorithm. ATK-NEO-6M is used. This module integrates RF radio frequency chip, baseband chip and core CPU, and can provide longitude and latitude information in the format of GPGGA at a frequency of 1 to 100 Hz through the USART communication interface. The posture perception module uses a JY901 posture sensor. The posture perception module and the microcontroller communicate via an integrated circuit bus (IIC). The yaw angle, pitch angle, and roll angle can be obtained, as well as the current three-axis acceleration, three-axis angular velocity, and deflection angle relative to true north. The communication networking module, namely E18-2G4Z27SP, is a small-volume 2.4GHz frequency band ZigBee wireless module based on the TICC2530 chip. It adopts half-duplex communication mode and uses a USART communication interface. It is used for the floating mobile platform to communicate with other individuals in an ad hoc network, return status information to the host computer that controls the floating omnidirectional mobile platform, and receive control instructions from the host computer. The universal serial interface 1 (USART serial port) is connected to the universal serial interface (USART serial port) of the drive execution circuit board for transmitting motion control instructions to the drive execution circuit board and powering the perception and decision circuit board. The universal serial interface 2 (USART serial port) is connected to the universal serial connector (USB interface) 7 on the top cover through a TTL to USB module for burning programs to the perception and decision circuit board and reading data.

[0080] The drive execution circuit board 9 includes a micro-CPU, a power management module, and two universal serial interfaces (USART serial ports). The power management module and the two universal serial interfaces (USART serial ports) are directly connected to the micro-CPU respectively; the micro-CPU is an embedded CPU based on a 32-bit ARM architecture of the cortex-M3 core, which is used to receive the motion instructions issued by the perception decision circuit board 7 in the universal serial interface 1, and output a PWM wave with a frequency of 50Hz to the three propeller propellers 12 through PB7 (TIM4 CH2, propeller propeller 1), PB8 (TIM4 CH3, propeller propeller 2), and PB9 (TIM4CH4, propeller propeller 3) through the built-in thrust distribution method, controlling their rotation to provide thrust, ensuring the movement of the floating omnidirectional maneuverable platform and the control of the propeller propellers 12 through PB6 (TIM4 The CH1) port outputs a PWM wave with a frequency of 50Hz to control the rotation of the 360-degree controllable servo; the power management module uses an LM2596 multi-way switch power management module, which is connected to the power supply 10 (12-volt lithium battery), the micro-central processing unit, and the three propeller thrusters 12, and is used to reduce the output voltage of the power supply 10 (12 volts) to the operating voltage of the micro-central processing unit (5 volts) and provide 12 volts to the three propeller thrusters 12; the universal serial interface 1 (USART serial port) is connected to the universal serial interface (USART serial port) of the perception and decision circuit board 7 to receive motion control instructions and power the perception and decision circuit board 7; the universal serial interface 2 (USART serial port) is connected to the universal serial interface (USB interface) 19 of the top cover through a TTL to USB module to burn programs to the drive execution circuit board 9 and read data.

[0081] One end of the fixed copper column 8 is connected to the sensing decision circuit board 7, and the connection method is shown in 30 (the connection method between the fixed copper column and the sensing decision circuit), and the other end is connected to the driving execution circuit board 9, and the connection method is shown in 31 (the fixing method between the fixed copper column and the driving execution circuit), which is used to fix the driving execution circuit board 9 to the lower end of the sensing decision circuit board 7.

[0082] The power supply 10 is a 12V 18650 lithium battery with a capacity of 8000 mAh, which is connected to the power management module 9 on the drive execution circuit board and is used to power the floating omnidirectional mobile platform. It can provide continuous power supply for 4 hours.

[0083] This embodiment provides a control method for a floating omnidirectional mobile platform facing a water surface cluster, and the specific steps are as follows:

[0084] Step 1: placing the floating omnidirectional mobile platform at a designated location in the water area;

[0085] Step 2: Turn on each module to operating mode. The 360-degree controllable servo controls the rotation of the camera module. The first micro-CPU on the perception and decision-making circuit board collects and processes data from the position perception module, attitude perception module, and camera module. It then uses the cluster self-organizing motion control algorithm to issue motion control instructions to the drive execution module.

[0086] Step 3: The second micro-CPU of the drive execution circuit board receives the motion instructions issued by the perception decision circuit board, and outputs different PWM waves to the three propeller thrusters in combination with the built-in thrust distribution method, controlling their rotation to provide thrust and completing the movement of the floating omnidirectional maneuverable platform.

[0087] This embodiment provides an application of a floating omnidirectional mobile platform for a water surface cluster, wherein the floating omnidirectional mobile platform serves as a robot for verifying the self-organized motion control calculation of the cluster facing the water surface environment.

[0088] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. A floating omnidirectional maneuverable platform for clustering on the water surface, characterized by: It includes a floating shell, a perception and decision module, a drive execution module and a power supply module; The floating shell is used to carry other modules and provide buoyancy for the floating omnidirectional maneuverable platform; The perception and decision module combines the acquired environmental information and its own position and posture information with the cluster self-organizing motion control algorithm to obtain motion control instructions, and sends the motion control instructions to the drive execution module; the perception and decision module includes a 360° angle controllable servo, a camera module fixing bracket, a camera module and a perception and decision circuit board; The camera module is mounted on a 360° angle-controllable servo via a camera module fixing bracket, and is connected to a perception and decision-making circuit board, for sensing environmental information and transmitting the environmental information to the perception and decision-making circuit board. The environmental information includes water surface obstacles and the spatial distribution of other individuals. The 360° angle-controllable servo is mounted on the outer end surface of the top cover, and can control the rotation of the camera module within a range of 0-360 degrees, and detect the current angle through a potentiometer carried by itself. The perception and decision-making circuit board is mounted in a floating shell via a pod bracket, and includes a first micro-CPU, a position sensing module, a posture sensing module, a communication networking module, and a universal serial interface. The position sensing module, the posture sensing module, the communication networking module, and the universal serial interface are respectively connected to the first micro-CPU. The first micro-CPU is used to collect and process data from the position sensing module, the posture sensing module, and the camera module, and send motion control instructions to the drive execution module in combination with the onboard cluster self-organizing motion control algorithm. The drive execution module combines the received motion control instructions with the built-in thrust distribution method to output different PWM waves to the drive execution components, thereby realizing the omnidirectional movement of the floating omnidirectional maneuvering platform on the water surface. The drive execution module includes a drive execution circuit board and propeller thrusters. The three propeller thrusters are evenly distributed along the circumference of the floating shell, and their axial height is aligned with the center of gravity of the floating omnidirectional maneuvering platform. The drive execution circuit board is mounted below the perception and decision circuit board via a plurality of circumferentially arranged fixed copper pillars and is located within the floating housing. The drive execution circuit board includes a second micro-CPU and a universal serial interface. The second micro-CPU is connected to the three propeller thrusters and the 360° angle-controllable servo. The second micro-CPU receives motion instructions from the perception and decision circuit board via the universal serial interface, and outputs different PWM waves to the three propeller thrusters in combination with a built-in thrust distribution method to control their rotation and provide thrust to ensure the movement of the floating omnidirectional maneuverable platform. The second micro-CPU also outputs PWM waves to control the rotation of the 360° angle-controllable servo. The sum of the torques provided by the three propeller thrusters is zero. The power supply module is used for power supply control of the floating omnidirectional mobile platform.

2. The floating omnidirectional mobile platform for clustering on the water surface according to claim 1, characterized in that: The floating shell includes a loading shell and a top cover. The loading shell is a rotating body cavity structure with an open upper end. The top cover is sealingly installed at the open end thereof to form an integrated sealing structure.

3. The floating omnidirectional mobile platform for clustering on the water surface according to claim 1, characterized in that: The position sensing module integrates a radio frequency chip, a baseband chip, and a core CPU, and is used to obtain the latitude and longitude information of the floating omnidirectional mobile platform itself; The attitude sensing module is used to obtain the yaw angle, pitch angle, roll angle of the floating omnidirectional maneuverable platform and the deflection angle of the omnidirectional maneuverable platform relative to the true north; The communication networking module adopts a half-duplex communication mode, and is used for the floating mobile platform to communicate with other individuals in an ad hoc network, return status information to the host computer that controls the floating omnidirectional mobile platform, and receive control instructions from the host computer; The universal serial interface is used for connection with other components and information transmission.

4. The floating omnidirectional mobile platform for clustering on the water surface according to claim 1, characterized in that: The power module includes a power supply, a power management module, and a power switch. The power supply is installed in the floating housing and connected to the power management module and the power switch. The power management module is located on the drive execution circuit board, and the power switch is located on the top cover; The power management module reduces the power supply voltage of 12 volts to the operating voltage of 5 volts for the micro central processing unit, and provides 12 volts to the three propeller thrusters; the power supply is controlled by the power switch to close the power supply for the entire floating omnidirectional maneuverable platform.

5. The floating omnidirectional mobile platform for clustering on the water surface according to claim 4, characterized in that: The top cover is used to install the position sensing module antenna, the communication networking module antenna, the 360° angle controllable servo, the power switch, the four-core charging connector, two universal serial interfaces, and the pod bracket; wherein, the position sensing module antenna and the communication networking module antenna are respectively connected to the position sensing module and the communication networking module on the perception decision circuit board; the power switch is used to control the power supply closure for the entire floating omnidirectional mobile platform; the four-core charging connector is used to provide a charging interface for the power supply; the two universal serial interfaces are respectively connected to the perception decision circuit board and the drive execution circuit board, and are used for burning programs, reading data, and providing expansion interfaces for other additional sensors.

6. A control method for a floating omnidirectional mobile platform facing a water surface cluster according to any one of claims 1 to 5, characterized in that The specific steps are as follows: Step 1: placing the floating omnidirectional mobile platform at a designated location in the water area; Step 2: Turn on each module to operating mode. The 360-degree controllable servo controls the rotation of the camera module. The first micro-CPU on the perception and decision-making circuit board collects and processes data from the position perception module, attitude perception module, and camera module. It then uses the cluster self-organizing motion control algorithm to issue motion control instructions to the drive execution module. Step 3: The second micro-CPU of the drive execution circuit board receives the motion instructions issued by the perception decision circuit board, and outputs different PWM waves to the three propeller thrusters in combination with the built-in thrust distribution method, controlling their rotation to provide thrust and completing the movement of the floating omnidirectional maneuverable platform.

7. The control method of a floating omnidirectional mobile platform for a water surface cluster according to claim 6, characterized in that: The thrust distribution method is: When the sum of the torques of the three propellers is zero, they can normally provide thrust in the specified direction. The expression is: in, The sum of the torques provided by the three propeller thrusters is, is the thrust vector generated by propeller i, is the moment radius; After neglecting the Z-axis displacement, the above formula is simplified to: Therefore, when the thrust vector to be provided is When the three propeller thrusters are used, they provide the following thrust: in, for The component of force on the X axis, for The component of force on the Y axis.

8. An application of the floating omnidirectional mobile platform for water surface clustering according to any one of claims 1 to 5, characterized in that: The floating omnidirectional maneuverable platform is used as a robot for verifying the cluster self-organizing motion control calculation facing the water surface environment.

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