Water-land-air multi-domain cooperative unmanned operation system and control method

Abstract

The invention discloses a water-land-air multi-domain cooperative unmanned operation system for solving the problem of large-range water-land-air multi-domain environment cooperative search and detection, and the operation system comprises an amphibious unmanned platform, a plurality of water-air amphibious flight platforms, and a ground station control platform. The amphibious unmanned platform is used for completing underwater search and detection tasks through movement in an underwater environment; the water-air amphibious flying platform is used for completing searching and detecting tasks of air and water surface environments, providing positioning and communication services for the underwater amphibious unmanned platform through an underwater acoustic communication mode, and assisting the amphibious unmanned platform to work in the underwater environment; the ground station control platform communicates with the amphibious unmanned platform and the water-air amphibious flying platform and is used for obtaining information of the amphibious unmanned platform and the water-air amphibious flying platform. The operation system can complete underwater, water surface and land search and detection tasks and the like in complex cross-domain environments such as coast, lake and river.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and specifically relates to a multi-domain collaborative unmanned operation system and control method for water, land and air. Background Art

[0002] A multi-domain unmanned system is an unmanned system that can operate autonomously or semi-autonomously in different environments such as land, water, underwater, and air. It can play an important role in environmental monitoring, resource exploration, search and rescue, and other tasks. The operation scenarios of multi-domain unmanned systems involve complex geographical environments such as underwater, surface, land, and air. Due to the limitations of the operating range and the blocking of radio electromagnetic wave signal transmission across media, a single unmanned system is usually difficult to independently complete the operation tasks in a complex cross-domain environment. The use of multiple unmanned platforms for coordination and collaboration can greatly improve the efficiency of search and detection operations. Summary of the invention

[0003] In response to the problem of collaborative search and detection in large-scale multi-domain environments of water, land and air, the present invention provides a multi-domain collaborative unmanned operation system and control method for water, land and air. The operation system can complete underwater, surface and land search and detection tasks in complex cross-domain environments such as coasts, lakes and rivers.

[0004] In order to achieve the above object, the present invention adopts the following specific technical solutions:

[0005] The present invention provides a multi-domain coordinated unmanned operation system for water, land and air, which comprises an amphibious unmanned platform, a plurality of amphibious flight platforms and a ground station control platform;

[0006] The amphibious unmanned platform has a crawler walking mode and an underwater swimming mode, and is used to complete underwater search and detection tasks by moving in an underwater environment;

[0007] The water-air amphibious flight platform can complete water surface takeoff and landing, and is used to complete air and water surface environment search and detection tasks, and provide positioning and communication services for the underwater amphibious unmanned platform through hydroacoustic communication, to assist the amphibious unmanned platform to operate in the underwater environment;

[0008] The ground station control platform communicates with the amphibious unmanned platform and the amphibious flying platform to obtain information of the amphibious unmanned platform and the amphibious flying platform;

[0009] When the amphibious unmanned platform is operating underwater, a small batch of data is transmitted between the water-air amphibious flight platform and the amphibious unmanned platform;

[0010] When the amphibious unmanned platform finds a target, the amphibious unmanned platform floats to the water surface through a swimming mode in the water and transmits a large amount of data between the ground station control platform.

[0011] Furthermore, the small batch data is location and status data; the large batch data is image and sonar point cloud data.

[0012] Furthermore, the water-air amphibious flight platform is composed of a rotor flight platform body, a buoyancy block, a GPS module, a UWB ultra-wideband communication module, a hydroacoustic communication module and a hydroacoustic positioning receiver;

[0013] A plurality of the water-air amphibious flight platforms can realize mutual positioning during flight through the GPS module and the UWB ultra-wideband communication module, and realize the positioning of the underwater amphibious unmanned platform in cooperation with the acoustic beacon.

[0014] Furthermore, the amphibious unmanned platform is composed of a variable configuration amphibious unmanned vehicle, a hydroacoustic communication module, a hydroacoustic positioning transmitter, a sonar and a camera;

[0015] The variable configuration amphibious unmanned vehicle has two maneuvering modes: track walking and water swimming. In the track walking mode, the amphibious unmanned platform has the ability to maneuver on land and underwater. In the water swimming mode, the amphibious unmanned platform has the ability to maneuver from the bottom of the water to the surface, thereby completing the search and detection tasks of land and underwater environments.

[0016] Furthermore, the mutual flight positioning technology of the water and air amphibious flight platform uses the strength of the UWB ultra-wideband signal of the UWB ultra-wideband communication module to calculate the distance from itself to other flight platforms. The amphibious unmanned platform uses a hydroacoustic positioning transmitter to transmit sound signals underwater. The water and air amphibious flight platform obtains the sound signals through the hydroacoustic positioning receiver carried by the platform, and calculates the distance between the amphibious unmanned platform and the water and air amphibious flight platform through the time difference of receiving the sound signals, and uses the triangulation positioning method to calculate the position coordinates of the amphibious unmanned platform in the working space.

[0017] Furthermore, the ground station control platform is equipped with a data receiving device for communicating with the amphibious unmanned platform and the amphibious flying platform, so as to obtain the position, working status, images from carried cameras and sonar point cloud information of the amphibious unmanned platform and the amphibious flying platform.

[0018] Furthermore, the number of the water-air amphibious flight platforms is not less than 4.

[0019] In addition, the present invention also provides a control method for a multi-domain cooperative unmanned operation system of water, land and air, which comprises the following steps: when performing a cross-domain cooperative detection task, first, multiple water and air amphibious flying platforms take off, the water and land amphibious unmanned platforms enter a predetermined search area to carry out a search task, multiple water and air amphibious flying platforms follow the water and land amphibious unmanned platforms in the air, and after arriving at the search water area, the water and land amphibious unmanned platforms enter the water to carry out the search task, the water and air amphibious flying platforms land on the water surface, and establish communication with the water and land amphibious unmanned platforms by means of hydroacoustic communication;

[0020] The amphibious flying platform uses the triangulation method to calculate the position coordinates of the amphibious unmanned platform relative to the amphibious flying platform; when the amphibious unmanned platform moves underwater, the amphibious flying platform adjusts its position by taking off and landing continuously to keep the amphibious flying platform and the amphibious unmanned platform within the signal range of the underwater acoustic communication;

[0021] When the amphibious unmanned platform searches for the target underwater, the water-air amphibious flying platform sends a signal to the amphibious unmanned platform through hydroacoustic communication. The amphibious unmanned platform switches to swimming mode underwater and floats to the surface. The amphibious unmanned platform transmits underwater images and sonar point cloud information to the ground station control platform on the surface. After the data transmission is completed, the amphibious unmanned platform switches to underwater tracked walking mode to continue searching.

[0022] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0023] The multi-domain collaborative unmanned operation system of the present invention utilizes an amphibious unmanned platform, multiple amphibious flying platforms and a ground station control platform to perform collaborative operations. When the amphibious unmanned platform is operating underwater, it transmits small batches of data to the amphibious flying platform. When the amphibious unmanned platform finds a target, it floats to the surface and transmits large batches of data to the ground station control platform, thereby solving the problem of collaborative search and detection of a single unmanned system in a large-scale complex environment of multi-domains of water, land and air, expanding the operating scope of different cross-domain unmanned systems, so that the unmanned system can meet the needs of search and detection tasks in complex environments such as air, water surface, underwater and land, and can be used in complex cross-domain environments such as coasts, lakes and rivers to complete underwater, surface and land search and detection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the operating principle of the multi-domain coordinated unmanned operation system of water, land and air of the present invention;

[0025] Figure 2 This is a schematic diagram of the coordinated operation of the amphibious unmanned platform and the amphibious flying platform;

[0026] Figure 3This is a schematic diagram of the amphibious unmanned platform's surfacing process after discovering a target;

[0027] Figure 4 This is a schematic diagram of the structure of the water-air amphibious flight platform;

[0028] Figure 5 It is a schematic diagram of an amphibious unmanned platform in a crawler walking mode;

[0029] Figure 6 It is a schematic diagram of an amphibious unmanned platform in a water swimming mode;

[0030] Figure 7 It is a schematic diagram of the structure of a variable-configuration amphibious unmanned vehicle;

[0031] Figure 8 Schematic diagram of posture adjustment for configuring an amphibious unmanned vehicle.

[0032] Among them, 1- amphibious unmanned platform, 2- water and air amphibious flight platform, 3- target, 11- rotor flight platform body, 12- GPS module, 13- UWB ultra-wideband communication module, 14- underwater acoustic communication module, 21- variable configuration amphibious unmanned vehicle, 22- underwater acoustic communication module, 23- sonar and camera, 24- frame, 25- track wheel, 26- track, 27- propeller, 28- joint motor. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0034] Embodiment 1

[0035] The embodiment of the present invention provides a multi-domain collaborative unmanned operation system for water, land and air, such as Figure 1 , Figure 2 and Figure 3 As shown in the structure, the multi-domain coordinated unmanned operation system for water, land and air includes an amphibious unmanned platform 1, multiple amphibious flight platforms 2 and a ground station control platform; wherein:

[0036] The amphibious unmanned platform 1 has a track walking mode A and an underwater swimming mode B, which is used to complete underwater search and detection tasks by moving in an underwater environment; Figure 5 , Figure 6 and Figure 7As shown, the amphibious unmanned platform 1 is composed of a variable configuration amphibious unmanned vehicle 21, an acoustic communication module 22, an acoustic positioning transmitter, a sonar and a camera 23; the variable configuration amphibious unmanned vehicle 21 has two maneuvering modes: walking on tracks 26 and swimming in water. In the track walking mode A, the amphibious unmanned platform 1 has the maneuverability on land and underwater; in the swimming mode B, the amphibious unmanned platform 1 has the maneuverability from the bottom of water to the surface of water, thereby completing the search and detection tasks of land and underwater environments.

[0037] The water-air amphibious flight platform 2 can complete water surface takeoff and landing, and is used to complete the search and detection tasks of the air and water surface environment, and provide positioning and communication services for the underwater amphibious unmanned platform 1 through hydroacoustic communication, and assist the amphibious unmanned platform 1 to operate in the underwater environment; Figure 4 As shown, the water-air amphibious flight platform 2 is composed of a rotor flight platform body 11, a buoyancy block, a GPS module 12, a UWB ultra-wideband communication module 13, a hydroacoustic communication module 14, and a hydroacoustic positioning receiver; multiple water-air amphibious flight platforms 2 can realize mutual flight positioning through the GPS module 12 and the UWB ultra-wideband communication module 13, and realize the positioning of underwater amphibious unmanned platforms in conjunction with acoustic beacons. The number of water-air amphibious flight platforms 2 is not less than 4. The flight mutual positioning technology of the water-air amphibious flight platform 2 uses the strength of the UWB ultra-wideband signal of the UWB ultra-wideband communication module 13 to calculate the distance from itself to other flight platforms. The amphibious unmanned platform 1 uses a hydroacoustic positioning transmitter to transmit acoustic signals underwater. The water-air amphibious flight platform 2 obtains the acoustic signals through the hydroacoustic positioning receiver carried by the amphibious flight platform 2, and calculates the distance between the amphibious unmanned platform 1 and the water-air amphibious flight platform 2 by the time difference of receiving the acoustic signals, and uses the triangulation positioning method to calculate the position coordinates of the amphibious unmanned platform 1 in the working space.

[0038] The ground station control platform communicates with the amphibious unmanned platform 1 and the amphibious flying platform 2 to obtain information of the amphibious unmanned platform 1 and the amphibious flying platform 2; the ground station control platform is equipped with a data receiving device for communicating with the amphibious unmanned platform 1 and the amphibious flying platform 2 to obtain the position, working status, images of the carried cameras and sonar point cloud information of the amphibious unmanned platform 1 and the amphibious flying platform 2;

[0039] When the amphibious unmanned platform 1 is operating underwater, the water-air amphibious flight platform 2 transmits small batches of data to the amphibious unmanned platform 1; the small batches of data are position and status data;

[0040] When the amphibious unmanned platform 1 finds the target 3, the amphibious unmanned platform 1 floats to the water surface through the underwater swimming mode B and transmits a large amount of data between the ground station control platform; the large amount of data is image and sonar point cloud data.

[0041] The above-mentioned multi-domain collaborative unmanned operation system for land, sea and air utilizes an amphibious unmanned platform 1, multiple amphibious flying platforms 2 and a ground station control platform for collaborative operations. When the amphibious unmanned platform 1 is operating underwater, it transmits small batches of data with the amphibious flying platform 2. When the amphibious unmanned platform 1 finds the target 3, it floats to the surface and transmits large batches of data with the ground station control platform, thereby solving the problem of collaborative search and detection of a single unmanned system in a large-scale complex environment of land, sea and air multi-domains, expanding the operating scope of different cross-domain unmanned systems, and enabling the unmanned system to meet the needs of search and detection tasks in complex environments such as air, surface, underwater and land, and can be used in complex cross-domain environments such as coasts, lakes and rivers to complete underwater, surface and land search and detection tasks.

[0042] like Figure 7As shown, the variable configuration amphibious unmanned vehicle 21 is an amphibious unmanned system equipped with tracks 26 and propellers 27. In the track walking mode A, the variable configuration amphibious unmanned vehicle 21 has the ability to maneuver on land and underwater. In the water swimming mode B, the variable configuration amphibious unmanned vehicle 21 has the ability to maneuver from the bottom of the water to the surface of the water, and can complete the search and detection tasks of land, underwater and underwater environments. The variable configuration amphibious unmanned vehicle 21 includes a frame 24, a joint motor 28, a propeller 27, a propeller motor, a track wheel 25, a track wheel shaft, a track 26, a drive motor, an underwater pressure sensor, an IMU attitude sensor, an attitude controller and an ultrasonic ranging sensor; the drive motor (not shown in the figure) and the track wheel 25 are symmetrically installed on both sides of the frame 24; the drive motor is used to drive the track wheel 25 to rotate, and the output shaft of the drive motor can be directly coaxially fixedly connected with the track wheel shaft; the track 26 is installed on the outer peripheral side of the track wheel 25 on one side of the frame 24; the propeller 27 is coaxially fixedly connected with the propeller motor; the propeller motor is fixedly installed on the track wheel The propeller 27 is rotatably mounted on the track wheel shaft and is located on the inner side of the track wheel 25; the output shaft of the propeller motor is fixedly connected to the propeller 27 to drive the propeller 27 to rotate; at the same time, in order to facilitate the variable configuration amphibious unmanned vehicle 21 to swim in other directions underwater, multiple propellers 27 and propeller motors for driving the propellers 27 to rotate can also be installed on the frame 24, such as: at the front end and the rear end of the frame 24; the joint motor 28 is installed on both sides of the frame 24, and is used to drive the drive motor to swing relative to the frame 24 to adjust the underwater thrust direction of the propeller 27, thereby controlling the underwater posture of the variable configuration amphibious unmanned vehicle 21. The underwater pressure sensor is used to measure the external environmental pressure of the variable configuration amphibious unmanned vehicle 21; the underwater pressure sensor has the function of measuring the external environmental pressure. When the variable configuration amphibious unmanned vehicle 21 enters the water, it can judge whether it enters the water according to the change of external pressure. The IMU attitude sensor is used to obtain the attitude of the variable configuration amphibious unmanned vehicle 21; the IMU attitude sensor uses inertial measurement and angular velocity measurement to obtain the attitude information of the variable configuration amphibious unmanned vehicle 21 in water. The ultrasonic ranging sensor is used to measure the distance between the variable configuration amphibious unmanned vehicle 21 and the bottom of the water; the ultrasonic ranging sensor continuously measures the distance between the variable configuration amphibious unmanned vehicle 21 and the bottom of the water.The attitude controller is connected to the underwater pressure sensor, the IMU attitude sensor and the ultrasonic ranging sensor signal, and is used to determine whether the variable configuration amphibious unmanned vehicle 21 has entered the water according to the external environmental pressure measured by the underwater pressure sensor. When it is determined that the variable configuration amphibious unmanned vehicle 21 has entered the water, the attitude of the variable configuration amphibious unmanned vehicle 21 in the water is controlled according to the attitude signal obtained by the IMU attitude sensor, so that the variable configuration amphibious unmanned vehicle 21 lands on the bottom of the water with its front side facing up, and when the distance measured by the ultrasonic ranging sensor is less than a set value, such as: the set value can be 1m, the variable configuration amphibious unmanned vehicle 21 is controlled to approach the bottom of the water at a slow speed to reduce the damage to the variable configuration amphibious unmanned vehicle 21 caused by the fall.

[0043] When controlling the posture of the variable configuration amphibious unmanned vehicle 21 in water, the posture controller controls the rotation of the joint motor 28 to adjust the thrust direction F of the propeller 27, such as Figure 8 As shown, the thrust direction F forms an angle a with the horizontal plane, and a can vary within a range of 180°, that is, a can be from -90° to 90°, and the thrust of the propeller 27 is changed by controlling the propeller motor, so that the amphibious unmanned vehicle 21 can land on the bottom of the water with its front facing up. When the distance measured by the ultrasonic ranging sensor is less than the set value, the attitude controller controls the speed of the propeller motor to make the amphibious unmanned vehicle 21 approach the bottom of the water at a slow speed.

[0044] Embodiment 2

[0045] The embodiment of the present invention also provides a control method for a water, land and air multi-domain collaborative unmanned operation system, the control method comprising the following steps:

[0046] When conducting a cross-domain collaborative detection mission, first, multiple amphibious flight platforms 2 take off, and the amphibious unmanned platform 1 enters the predetermined search area to carry out the search mission. Multiple amphibious flight platforms 2 follow the amphibious unmanned platform 1 in the air. After arriving at the search area, the amphibious unmanned platform 1 enters the water to carry out the search mission. The amphibious flight platform 2 lands on the water surface and establishes communication with the amphibious unmanned platform 1 by means of hydroacoustic communication.

[0047] The water-air amphibious flying platform 2 uses the triangulation positioning method to calculate the position coordinates of the water-land amphibious unmanned platform 1 relative to the water-air amphibious flying platform 2; when the water-land amphibious unmanned platform 1 moves underwater, the water-air amphibious flying platform 2 adjusts its position by continuously taking off and landing, so as to keep the water-air amphibious flying platform 2 and the water-land amphibious unmanned platform 1 within the signal range of the hydroacoustic communication;

[0048] When the amphibious unmanned platform 1 searches for the target 3 underwater, the water-air amphibious flying platform 2 sends a signal to the amphibious unmanned platform 1 through hydroacoustic communication. The amphibious unmanned platform 1 switches to the swimming mode underwater and floats to the surface. The amphibious unmanned platform 1 transmits underwater images and sonar point cloud information to the ground station control platform on the surface. After the data transmission is completed, the amphibious unmanned platform 1 switches to the underwater track walking mode A to continue searching.

[0049] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multi-domain collaborative unmanned operation system for water, land and air, characterized in that: It includes amphibious unmanned platforms, multiple amphibious flying platforms and ground station control platforms; The amphibious unmanned platform has a crawler walking mode and an underwater swimming mode, and is used to complete underwater search and detection tasks by moving in an underwater environment; The water-air amphibious flight platform can complete water surface takeoff and landing, and is used to complete air and water surface environment search and detection tasks, and provide positioning and communication services for the underwater amphibious unmanned platform through hydroacoustic communication, to assist the amphibious unmanned platform to operate in the underwater environment; The ground station control platform communicates with the amphibious unmanned platform and the amphibious flying platform to obtain information of the amphibious unmanned platform and the amphibious flying platform; When the amphibious unmanned platform is operating underwater, a small batch of data is transmitted between the water-air amphibious flight platform and the amphibious unmanned platform; When the amphibious unmanned platform finds a target, the amphibious unmanned platform floats to the water surface through a swimming mode in the water and transmits a large amount of data between the ground station control platform.

2. The operating system according to claim 1, characterized in that: The small batch data are position and status data; the large batch data are images and sonar point cloud data.

3. The operating system according to claim 1, wherein: The water-air amphibious flight platform is composed of a rotor flight platform body, a buoyancy block, a GPS module, a UWB ultra-wideband communication module, a hydroacoustic communication module and a hydroacoustic positioning receiver; A plurality of the water-air amphibious flight platforms can realize mutual positioning during flight through the GPS module and the UWB ultra-wideband communication module, and realize the positioning of the underwater amphibious unmanned platform in cooperation with the acoustic beacon.

4. The operating system according to claim 3, characterized in that: The amphibious unmanned platform is composed of a variable configuration amphibious unmanned vehicle, a hydroacoustic communication module, a hydroacoustic positioning transmitter, a sonar and a camera; The variable configuration amphibious unmanned vehicle has two maneuvering modes: track walking and water swimming. In the track walking mode, the amphibious unmanned platform has the ability to maneuver on land and underwater. In the water swimming mode, the amphibious unmanned platform has the ability to maneuver from the bottom of the water to the surface, thereby completing the search and detection tasks of land and underwater environments.

5. The operating system according to claim 4, characterized in that: The mutual flight positioning technology of the water-air amphibious flight platform uses the strength of the UWB ultra-wideband signal of the UWB ultra-wideband communication module to calculate the distance from itself to other flight platforms. The water-land unmanned platform uses a hydroacoustic positioning transmitter to transmit sound signals underwater. The water-air amphibious flight platform obtains the sound signals through the hydroacoustic positioning receiver carried by the water-air amphibious flight platform, and calculates the distance between the water-land unmanned platform and the water-air amphibious flight platform through the time difference of receiving the sound signals, and uses the triangulation positioning method to calculate the position coordinates of the water-land unmanned platform in the working space.

6. The operating system according to any one of claims 1 to 5, characterized in that: The ground station control platform is equipped with a data receiving device for communicating with the amphibious unmanned platform and the amphibious flying platform, which is used to obtain the position, working status, images from carried cameras and sonar point cloud information of the amphibious unmanned platform and the amphibious flying platform.

7. The operating system according to any one of claims 1 to 6, characterized in that: The number of the water-air amphibious flying platforms is not less than 4.

8. A control method for a multi-domain coordinated unmanned operation system on land, sea and air as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: When conducting cross-domain collaborative detection missions, first, multiple amphibious flight platforms take off, and amphibious unmanned platforms enter the predetermined search area to carry out search missions. Multiple amphibious flight platforms follow the amphibious unmanned platforms in the air. After arriving at the search area, the amphibious unmanned platforms enter the water to carry out search missions. The amphibious flight platforms land on the water surface and use hydroacoustic communication to establish communication with the amphibious unmanned platforms. The amphibious flying platform uses the triangulation method to calculate the position coordinates of the amphibious unmanned platform relative to the amphibious flying platform; when the amphibious unmanned platform moves underwater, the amphibious flying platform adjusts its position by taking off and landing continuously to keep the amphibious flying platform and the amphibious unmanned platform within the signal range of the underwater acoustic communication; When the amphibious unmanned platform searches for the target underwater, the water-air amphibious flying platform sends a signal to the amphibious unmanned platform through hydroacoustic communication. The amphibious unmanned platform switches to swimming mode underwater and floats to the surface. The amphibious unmanned platform transmits underwater images and sonar point cloud information to the ground station control platform on the surface. After the data transmission is completed, the amphibious unmanned platform switches to underwater tracked walking mode to continue searching.

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