Cooperative remote control system based on unmanned aerial vehicle and robot dog

Abstract

The invention discloses a cooperative remote control system based on an unmanned aerial vehicle and a robotic dog, which comprises a robotic dog control system, an unmanned aerial vehicle control system and a remote control terminal, and is characterized in that the remote control terminal is in wireless communication connection with the robotic dog control system and the unmanned aerial vehicle control system and is used for remotely and directly controlling the robotic dog and the unmanned aerial vehicle; the robot dog controller system and the unmanned aerial vehicle control system are in wireless communication interconnection and are used for data transmission between the robot dog and the unmanned aerial vehicle. The invention belongs to the technical field of unmanned aerial vehicles, and when the robot dog is affected by the ground environment to cause weak signal and weak contact with the remote control terminal, the robot dog wireless communication module is connected with the remote control terminal through the remote channel of the unmanned aerial vehicle wireless communication module, and normal contact between the robot dog and the remote control terminal is recovered. The remote precise control of the robot dog is facilitated, and the problems of insufficient precision, slow response and the like of the robot dog in the remote control process are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a remote control system based on the collaboration of an unmanned aerial vehicle (UAV) and a robot dog. Background Art

[0002] Robot dogs, with their excellent ground adaptability, flexible movement performance and high autonomy, are ideal for ground exploration and operations; while drones, with their broad field of view, rapid response capability and unique advantages in aerial operations, excel in airspace reconnaissance and target tracking. The organic combination of the two to achieve air-ground coordinated operations can significantly improve mission execution efficiency and coverage, and provide strong support for mission execution in complex environments.

[0003] After the current drone drops the robot dog into the target area, due to the complex and diverse operating environment in the target area, the robot dog is affected by the ground environment, which may cause the robot dog to drive a weak communication signal, thereby weakening the connection between the robot dog and the remote control terminal, which is not conducive to the remote and precise control of the robot dog. Moreover, in a complex environment, it is difficult for the robot dog to plan the optimal path based on the real-time environment and image information combined with its own posture. The environmental perception and obstacle avoidance capabilities are relatively weak, which may cause the robot dog to have problems such as insufficient accuracy and slow response during remote control. Summary of the invention

[0004] To this end, the present invention provides a remote control system based on a drone + a robot dog collaboration to solve the above-mentioned problems in the prior art.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A remote control system based on drone + robot dog collaboration, comprising a robot dog control system, a drone control system, and a remote control terminal. The remote control terminal is wirelessly connected to the robot dog controller system and the drone control system respectively, and is used for remote direct control of the robot dog and the drone. The robot dog controller system and the drone control system are wirelessly interconnected, and are used for data transmission between the robot dog and the drone. The remote control terminal uses the drone as a communication relay node to enhance the signal and accurately control the robot dog.

[0007] The robot dog control system includes a robot dog controller, a robot dog driving module, a path planning module, a data storage module, a robot dog wireless communication module and a data acquisition module. The robot dog controller is connected to the robot dog driving module, the path planning module, the data storage module and the robot dog wireless communication module respectively. The data acquisition module is connected to the data storage module. The audio and video information, environmental information and self-posture information of the target area are collected through the data acquisition module, and the real-time information data is stored in the data storage module.

[0008] The UAV control system includes a UAV controller, a UAV wireless communication module, a data analysis and processing module, a UAV positioning and navigation module, and a UAV driving module. The UAV wireless communication module, the data analysis and processing module, the UAV positioning and navigation module, and the UAV driving module are all connected to the UAV controller, and the data analysis and processing module is connected to the UAV wireless communication module;

[0009] The robot dog wireless communication module is bidirectionally connected to the drone wireless communication module, and both the robot dog wireless communication module and the drone wireless communication module are wirelessly connected to the remote control terminal.

[0010] As a further optimized solution of the present invention, the data acquisition module includes:

[0011] An audio and video acquisition unit, used to acquire audio, video and image information of the ground in the target area;

[0012] The environment perception unit has multiple environment perception sensors integrated on the robot dog's body, which is used to monitor the surrounding environment information in real time;

[0013] The posture sensing unit is integrated and installed on the body of the robot dog, and is used to detect the posture and motion information of the robot dog, including but not limited to the tilt angle and acceleration parameters of the robot dog, and transmit these posture data to the data storage module so that the robot dog controller can accurately adjust the movement of the robot dog. The posture data is transmitted to the UAV control system and the remote control terminal in real time through the robot dog wireless communication module. The real-time posture of the robot dog is displayed in the form of a 3D model or chart on the monitoring interface of the remote control terminal, so that the operator can intuitively understand the status of the robot dog.

[0014] As a further optimized solution of the present invention, the audio and video acquisition unit includes a high-definition camera, a night vision camera and a microphone.

[0015] As a further optimized solution of the present invention, the environmental sensing unit includes but is not limited to temperature sensors, humidity sensors, air pressure sensors, gas detection sensors (such as CO2, methane and other harmful gas detectors) and light intensity sensors to comprehensively monitor changes in the surrounding environment.

[0016] As a further optimized solution of the present invention, the data acquisition module also includes a contact sensing unit, which is a pressure sensor and a tactile sensor integrated in the foot of the robot dog to sense the hardness and wetness of the ground and obstacles or uneven terrain in the path.

[0017] As a further optimized solution of the present invention, the posture sensing unit includes but is not limited to IMU, gyroscope, accelerometer, so as to detect the pitch angle, yaw angle, roll angle and tilt angle parameters of the robot dog.

[0018] As a further optimized solution of the present invention, the path planning module has a data analysis unit and a path planning algorithm unit. The data analysis unit performs a combined analysis on the ground information data acquired by the data acquisition module and the air-ground information provided by the UAV positioning and navigation module, and calculates the optimal path through the path planning algorithm unit.

[0019] As a further optimized solution of the present invention, the robot dog wireless communication module and the drone wireless communication module both adopt high-bandwidth, low-latency wireless communication protocols (such as 5G, Wi-Fi 6 or dedicated frequency bands) to ensure real-time data transmission between the drone and the robot dog and between the drone and the remote control terminal.

[0020] As a further optimized solution of the present invention, the remote control terminal includes:

[0021] Main controller, which is a high-performance tablet or laptop computer running dedicated control software;

[0022] The operation interface, touch screen or physical joystick, provides an intuitive operation experience;

[0023] The communication module is wirelessly connected to the robot dog wireless communication module and the drone wireless communication module to ensure a stable connection with the robot dog and the drone.

[0024] The present invention has the following advantages:

[0025] (i) The ground information data of the target area is obtained through the data acquisition module, and the real-time data is stored in the data storage module. On the one hand, the real-time data is analyzed and processed by the robot dog controller and the path planning module so as to plan the walking route of the robot dog according to the real-time ground information. On the other hand, the drone controller obtains accurate location information through the drone positioning and navigation module, and the drone wireless communication module transmits the real-time location information to the data storage module through the robot dog wireless communication module, so that the path planning module can optimize the planned path again and obtain the real-time optimal path, which can improve the robot dog's environmental perception and obstacle avoidance capabilities;

[0026] (2) When the robot dog is affected by the ground environment and the signal is weak, and the connection with the remote control terminal is weakened, the communication between the robot dog's wireless communication module and the remote control terminal is not stable enough. At this time, the robot dog's wireless communication module uses the remote channel of the drone's wireless communication module to connect to the remote control terminal, and restores the normal connection between the robot dog and the remote control terminal, which is conducive to the remote and precise control of the robot dog and avoids problems such as insufficient accuracy and slow response of the robot dog during the remote control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of a control system of the present invention;

[0028] Figure 2 Schematic diagram of the data acquisition module of the present invention. DETAILED DESCRIPTION

[0029] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figure 1 As shown, a remote control system based on drone + robot dog collaboration includes a robot dog control system, a drone control system, and a remote control terminal. The remote control terminal is wirelessly connected to the robot dog controller system and the drone control system respectively, and is used for remote direct control of the robot dog and the drone. The robot dog controller system and the drone control system are wirelessly interconnected for data transmission between the robot dog and the drone. The remote control terminal uses the drone as a communication relay node to enhance the signal and accurately control the robot dog.

[0031] The robot dog control system includes a robot dog controller, a robot dog driving module, a path planning module, a data storage module, a robot dog wireless communication module and a data acquisition module. The robot dog controller is connected to the robot dog driving module, the path planning module, the data storage module and the robot dog wireless communication module respectively. The data acquisition module is connected to the data storage module. The audio and video information, environmental information and self-posture information of the target area are collected through the data acquisition module, and the real-time information data is stored in the data storage module.

[0032] The robot dog drive module is the robot dog actuator, which specifically includes:

[0033] The hip joint motor is responsible for controlling the overall swing of the legs to achieve basic movements such as forward, backward, left and right movement;

[0034] Thigh motors further refine the movement trajectory of the legs, allowing the legs to adapt to different terrains more flexibly;

[0035] The calf motor increases the freedom of the legs, allowing the robot dog to perform more complex movements, such as jumping and climbing;

[0036] The UAV control system includes a UAV controller, a UAV wireless communication module, a data analysis and processing module, a UAV positioning and navigation module, and a UAV driving module. The UAV wireless communication module, the data analysis and processing module, the UAV positioning and navigation module, and the UAV driving module are all connected to the UAV controller, and the data analysis and processing module is connected to the UAV wireless communication module;

[0037] The robot dog wireless communication module is bidirectionally connected to the drone wireless communication module, and both the robot dog wireless communication module and the drone wireless communication module are wirelessly connected to the remote control terminal.

[0038] Specifically, Figure 2 As shown, the data acquisition module includes:

[0039] An audio and video acquisition unit, used to acquire audio, video and image information of the ground in the target area;

[0040] The environment perception unit has multiple environment perception sensors integrated on the robot dog's body, which is used to monitor the surrounding environment information in real time;

[0041] The posture sensing unit is integrated and installed on the body of the robot dog, and is used to detect the posture and motion information of the robot dog, including but not limited to the tilt angle and acceleration parameters of the robot dog, and transmit these posture data to the data storage module so that the robot dog controller can accurately adjust the movement of the robot dog. The posture data is transmitted to the UAV control system and the remote control terminal in real time through the robot dog wireless communication module. The real-time posture of the robot dog is displayed in the form of a 3D model or chart on the monitoring interface of the remote control terminal, so that the operator can intuitively understand the status of the robot dog.

[0042] Furthermore, the audio and video acquisition unit includes a high-definition camera, a night vision camera and a microphone to obtain audio, video and image information of the ground environment so as to transmit the panoramic picture in real time, and can also wirelessly network for remote amplification and sound pickup, thereby realizing remote calls, remotely understanding actual needs for human-machine collaborative transportation of materials, and is suitable for fire investigation and emergency rescue, etc.;

[0043] It also includes 3D LiDAR to build three-dimensional reconnaissance maps in real time;

[0044] Furthermore, the environmental sensing unit includes but is not limited to temperature sensors, humidity sensors, air pressure sensors, gas detection sensors (such as CO2, methane and other harmful gas detectors) and light intensity sensors to comprehensively monitor changes in the surrounding environment.

[0045] Furthermore, the data acquisition module also includes a contact sensing unit, which is a pressure sensor and a tactile sensor integrated in the foot of the robot dog to sense the hardness and wetness of the ground and obstacles or uneven terrain in the path, thereby helping the robot dog to adjust its gait and posture to maintain balance and stability.

[0046] Furthermore, the attitude sensing unit includes but is not limited to an IMU, a gyroscope, and an accelerometer to detect the pitch angle, yaw angle, roll angle, and tilt angle parameters of the robot dog, and transmits the real-time attitude data of the robot dog to the data storage module through the attitude sensing unit, so that the robot dog controller can regulate the attitude and path of the robot dog in combination with the path planning module;

[0047] Furthermore, the path planning module has a data analysis unit and a path planning algorithm unit, and the data analysis unit performs a combined analysis on the ground information data acquired by the data acquisition module and the air-ground information provided by the drone positioning and navigation module, and calculates the optimal path through the path planning algorithm unit;

[0048] It should be noted that the path planning algorithm unit adopts conventional algorithms, such as Dijkstra algorithm, genetic algorithm, particle swarm optimization algorithm, etc., and can perform path calculation and planning according to real-time data.

[0049] Specifically, the robot dog wireless communication module and the drone wireless communication module both use high-bandwidth, low-latency wireless communication protocols (such as 5G, Wi-Fi 6 or dedicated frequency bands) to ensure real-time data transmission between the drone and the robot dog and between the drone and the remote control terminal.

[0050] Specifically, the remote control terminal includes:

[0051] Main controller: The main controller is a high-performance tablet or laptop computer that runs dedicated control software and writes motion control algorithms for the robot dog and drone, such as PID control and MPC (model predictive control), to ensure precise control and provide task planning functions. Users can set task objectives, path planning, etc., and the system automatically assigns them to the robot dog and drone for execution.

[0052] The operation interface, touch screen or physical joystick, provides an intuitive operation experience, and also includes functions such as map display, status monitoring, and command issuance;

[0053] The communication module is wirelessly connected to the robot dog wireless communication module and the drone wireless communication module, supports Wi-Fi or dedicated frequency band communication, ensures stable connection with the robot dog and the drone, and designs a set of dedicated communication protocols for data transmission between the robot dog, the drone and the remote controller. The protocol should include fields such as command type, parameters, checksum, etc. to ensure the accuracy and reliability of data transmission. It can also encrypt sensitive data to prevent information leakage and illegal access.

[0054] In summary, the present invention obtains ground information data of the target area through the data acquisition module, and stores the real-time data in the data storage module. On the one hand, the real-time data is analyzed and processed by the robot dog controller and the path planning module so as to plan the walking route of the robot dog according to the real-time ground information. On the other hand, the drone controller obtains accurate position information through the drone positioning and navigation module, and the drone wireless communication module transmits the real-time position information to the data storage module through the robot dog wireless communication module, so that the path planning module optimizes the planned path again to obtain the real-time optimal path, which can improve the robot dog's environmental perception and obstacle avoidance capabilities; when the robot dog is affected by the ground environment and the signal is weak and the connection with the remote control terminal is weakened, the communication between the robot dog wireless communication module and the remote control terminal is not stable enough. At this time, the robot dog wireless communication module uses the remote channel of the drone wireless communication module to connect to the remote control terminal, and restores the normal connection between the robot dog and the remote control terminal, which is conducive to the remote and precise control of the robot dog, and avoids the problems of insufficient accuracy and slow response of the robot dog during the remote control process.

Claims

1. A UAV + robot dog collaborative remote control system, characterized in that: It includes a robot dog control system, a drone control system, and a remote control terminal. The remote control terminal is wirelessly connected to the robot dog controller system and the drone control system respectively, and is used for remote direct control of the robot dog and the drone. The robot dog controller system and the drone control system are wirelessly interconnected, and are used for data transmission between the robot dog and the drone. The remote control terminal uses the drone as a communication relay node to enhance the signal and accurately control the robot dog. The robot dog control system includes a robot dog controller, a robot dog driving module, a path planning module, a data storage module, a robot dog wireless communication module and a data acquisition module. The robot dog controller is connected to the robot dog driving module, the path planning module, the data storage module and the robot dog wireless communication module respectively, and the data acquisition module is connected to the data storage module. The UAV control system includes a UAV controller, a UAV wireless communication module, a data analysis and processing module, a UAV positioning and navigation module, and a UAV driving module. The UAV wireless communication module, the data analysis and processing module, the UAV positioning and navigation module, and the UAV driving module are all connected to the UAV controller, and the data analysis and processing module is connected to the UAV wireless communication module; The robot dog wireless communication module is bidirectionally connected to the drone wireless communication module, and both the robot dog wireless communication module and the drone wireless communication module are wirelessly connected to the remote control terminal.

2. The UAV + robot dog collaborative remote control system according to claim 1 is characterized in that: The data acquisition module comprises: An audio and video acquisition unit, used to acquire audio, video and image information of the ground in the target area; The environment perception unit has multiple environment perception sensors integrated on the robot dog's body, which is used to monitor the surrounding environment information in real time; The posture sensing unit is integrated and installed on the body of the robot dog, and is used to detect the posture and motion information of the robot dog, including but not limited to the tilt angle and acceleration parameters of the robot dog.

3. The UAV + robot dog collaborative remote control system according to claim 2 is characterized in that: The audio and video acquisition unit includes a high-definition camera, a night vision camera and a microphone.

4. The UAV + robot dog collaborative remote control system according to claim 2 is characterized in that: The environment sensing unit includes but is not limited to a temperature sensor, a humidity sensor, an air pressure sensor, a gas detection sensor, and a light intensity sensor to comprehensively monitor changes in the surrounding environment.

5. The UAV + robot dog collaborative remote control system according to claim 2 is characterized in that: The data acquisition module also includes a contact sensing unit, which is a pressure sensor and a tactile sensor integrated in the foot of the robot dog to sense the hardness and wetness of the ground and obstacles or uneven terrain in the path.

6. The UAV + robot dog collaborative remote control system according to claim 2 is characterized in that: The posture sensing unit includes but is not limited to an IMU, a gyroscope, and an accelerometer to detect the pitch angle, yaw angle, roll angle, and tilt angle parameters of the robot dog.

7. The UAV + robot dog collaborative remote control system according to claim 1 is characterized in that: The path planning module has a data analysis unit and a path planning algorithm unit. The data analysis unit performs a combined analysis on the ground information data acquired by the data acquisition module and the air-ground information provided by the drone positioning and navigation module, and the path planning algorithm unit calculates the optimal path.

8. A UAV + robot dog collaborative remote control system according to any one of claims 1-7, characterized in that: The robot dog wireless communication module and the drone wireless communication module both use high-bandwidth, low-latency wireless communication protocols to ensure real-time data transmission between the drone and the robot dog and between the drone and the remote control terminal.

9. The UAV + robot dog collaborative remote control system according to claim 8, characterized in that: The remote control terminal comprises: Main controller, which is a high-performance tablet or laptop computer running dedicated control software; The operation interface, touch screen or physical joystick, provides an intuitive operation experience; The communication module is wirelessly connected to the robot dog wireless communication module and the drone wireless communication module to ensure a stable connection with the robot dog and the drone.

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