Multi-mode control method and system for amphibious robot

Abstract

According to the multi-mode control method and system for the amphibious robot, the requirements of long-time sailing in water, underwater crawling obstacle crossing and the like of the amphibious robot can be met, and mission tasks can be better completed conveniently. Comprising a task module, an information acquisition module, a control module and an execution module, wherein the task module is used for receiving and storing a task file issued by control equipment; the control module reads a task file of the task module and issues an action instruction to the execution module according to the task file; the execution module starts to execute the corresponding task according to the task file; after the task is started, the information acquisition module transmits data to the control module in real time, and the control module performs fusion processing on the data according to the state of the current platform and the environment water depth and determines that the task is executed by crawling or navigation in water in the current water area.

Description

Technical Field

[0001] The present invention belongs to the fields of overall underwater robot technology and control technology, and in particular relates to a multi-modal control method and system for an amphibious robot. Background Art

[0002] With the research and development of underwater robots, the current working areas of underwater robots can be divided into deep water, shallow water, and extremely shallow water. In deep water and shallow water, underwater autonomous unmanned vehicles can be used to complete a series of tasks such as ocean information collection, target search, and target identification. This type of robot usually uses a single or multiple thrusters and is equipped with a steering gear to achieve navigation control in the water. However, for the complex environment of extremely shallow water, this type of robot is currently unable to support normal navigation, let alone perform corresponding tasks.

[0003] In order to meet the mission requirements in extremely shallow water and complex environments, an underwater amphibious robot with strong stealth is needed to perform missions in water and underwater. At present, most of the amphibious robots that can perform missions in water and underwater in China are paddle-wheel type or bionic type. The overall design and control method of such robots often result in short range, slow speed, limited working area and very limited mission execution capabilities. Summary of the invention

[0004] The present invention proposes a multi-modal control method and system for an amphibious robot, which can meet the needs of the amphibious robot for long-term navigation in water, underwater crawling and obstacle crossing, etc., so as to better complete the mission.

[0005] The present invention is achieved through the following technical solutions.

[0006] A multimodal control system for an amphibious robot, comprising: a task module, an information acquisition module, a control module, and an execution module; wherein:

[0007] The task module is used to receive and store task files sent by the control device;

[0008] The control module reads the task file of the task module and sends the action instruction to the execution module according to the task file;

[0009] The execution module starts to execute the corresponding task according to the task file;

[0010] After the mission begins, the information acquisition module transmits the data to the control module in real time. The control module integrates the data according to the current platform status and environmental water depth, and determines whether to use crawling or underwater navigation to perform the mission in the current waters.

[0011] A multimodal control method for an amphibious robot comprises the following steps:

[0012] Step 1: When the mission is started, confirm through the mission file whether the current water area is an operation area or the water area is not suitable for navigation. If so, trigger the mode switching switch to switch from underwater navigation mode to crawling mode;

[0013] Step 2: During the crawling mode, determine whether the current water area is a navigation area and whether the current water area reaches the required depth for navigation, or if the current platform is trapped and cannot crawl. If so, switch to navigation mode.

[0014] Beneficial effects of the present invention:

[0015] 1. The present invention is based on an amphibious robot with a propeller and a crawler track. A multi-modal control system is proposed on the basis of the robot. The system can meet the needs of such new amphibious robots for long-term navigation in water, underwater crawling and obstacle crossing, etc., so as to better complete the mission;

[0016] 2. The present invention proposes a system and a control method for an amphibious robot to solve the problem of autonomous switching of the robot's underwater mode and realize normal navigation and operation in different waters;

[0017] 3. The present invention controls different actuators according to different situations to enable the amphibious robot to autonomously navigate in waters of different depths;

[0018] 4. The present invention greatly improves the working ability of amphibious robots in extremely shallow water and complex environments, and can overcome waters with different geology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The multi-modal control system block diagram of the present invention for an amphibious robot;

[0020] Figure 2 The present invention is a flow chart of the multi-modal control method for an amphibious robot. DETAILED DESCRIPTION

[0021] The exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the embodiments shown and described in the accompanying drawings are only exemplary and are intended to illustrate the principles and spirit of the present invention, rather than to limit the scope of the present invention.

[0022] like Figure 1 As shown, a multimodal control system for an amphibious robot of the present invention specifically includes: a task module, an information acquisition module, a control module, and an execution module; wherein:

[0023] The task module is used to receive and store task files sent by the control device;

[0024] The control module reads the task file of the task module and sends the action instruction to the execution module according to the task file;

[0025] The execution module starts to execute the corresponding task according to the task file;

[0026] After the mission begins, the information acquisition module transmits the data to the control module in real time. The control module integrates the data according to the current platform status and environmental water depth, and determines whether to use crawling or underwater navigation to perform the mission in the current waters.

[0027] At this point, the multimodal control system of the present invention controls different execution units according to different situations, so as to enable the amphibious robot to autonomously navigate in waters of different depths.

[0028] In this embodiment, the information collection module includes a depth meter for collecting platform depth information; a Doppler speed meter for collecting platform speed and bottom height information; and an inertial navigation device for detecting the underwater posture and position information of the platform.

[0029] In this embodiment, the execution module includes tracks for underwater tracking and direction control; servos and thrusters for underwater tracking and depth control; and a buoyancy adjustment device for controlling the buoyancy of the platform to switch between underwater and underwater navigation modes.

[0030] like Figure 2 As shown, the present invention also includes a multimodal control method for an amphibious robot, which specifically includes the following steps:

[0031] Step 1: When the mission is started, confirm through the mission file whether the current water area is an operation area or the water area is not suitable for navigation. If so, trigger the mode switching switch to switch from underwater navigation mode to crawling mode;

[0032] In this embodiment, the specific process of switching from the underwater navigation mode to the crawling mode is as follows: stop the rotation of the thruster, power on the buoyancy device, start filling water to the zero buoyancy state, continue to fill water to the specified liquid level, and at the same time detect whether the depth changes. If the platform begins to descend, stop filling water, and detect the height information from the ground and the posture information in real time. When the posture is abnormal, fine-tune it through the servo and thruster. When it is less than 1 meter, the buoyancy adjustment device starts filling water again and accelerates the descent until the highest liquid level is reached. After reaching the bottom of the water, the mission begins.

[0033] Step 2: During the crawling mode, determine whether the current water area is a navigation area and whether the current water area meets the required navigation depth, or the current platform is trapped and cannot crawl. If so, switch to the navigation mode;

[0034] In this embodiment, the specific process of switching to the navigation mode is as follows: first, the crawler device is paused, and the buoyancy adjustment device starts to drain water to a slightly negative buoyancy. At the same time, the crawler, propeller, and steering gear are operated at the same time. If the platform starts to sail forward quickly and the height from the ground increases, the crawler motor is stopped and the water is drained to zero buoyancy. If the platform cannot move forward or the height from the ground remains unchanged, the water continues to be drained until the platform starts to float up. After starting to float up, the liquid level is restored to zero buoyancy to complete the mode switching.

[0035] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0036] It is obvious to those skilled in the art that the embodiments of the present invention are not limited to the details of the exemplary embodiments described above, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or basic features of the embodiments of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the embodiments of the present invention is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the embodiments of the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules or devices stated in the system, device or terminal claims can also be implemented by the same unit, module or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0037] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred implementation modes, those skilled in the art should understand that the technical solutions of the embodiments of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multimodal control system for an amphibious robot, characterized in that: include: Task module, information collection module, control module, execution module; among which: The task module is used to receive and store task files sent by the control device; The control module reads the task file of the task module and sends the action instruction to the execution module according to the task file; The execution module starts to execute the corresponding task according to the task file; After the mission begins, the information acquisition module transmits the data to the control module in real time. The control module integrates the data according to the current platform status and environmental water depth, and determines whether to use crawling or underwater navigation to perform the mission in the current waters.

2. A multimodal control system for an amphibious robot as claimed in claim 1, characterized in that: The information collection module includes a depth meter for collecting platform depth information; a Doppler speed meter for collecting platform speed and bottom height information; and an inertial navigation device for detecting the underwater posture and position information of the platform.

3. A multimodal control system for an amphibious robot as claimed in claim 1 or 2, characterized in that: The execution module includes tracks for realizing underwater tracking and direction-changing control; steering gear and thrusters for realizing underwater tracking and depth control; and a buoyancy adjustment device for controlling the buoyancy of the platform to realize switching between underwater and underwater navigation modes.

4. A multimodal control method for an amphibious robot, characterized in that: The following steps are involved: Step 1: When the mission is started, confirm through the mission file whether the current water area is an operation area or the water area is not suitable for navigation. If so, trigger the mode switching switch to switch from underwater navigation mode to crawling mode; Step 2: During the crawling mode, determine whether the current water area is a navigation area and whether the current water area reaches the required depth for navigation, or if the current platform is trapped and cannot crawl. If so, switch to navigation mode.

5. A multi-modal control method for an amphibious robot as claimed in claim 4, characterized in that: The specific process of switching from the underwater navigation mode to the crawling mode is as follows: stop the rotation of the thruster, power on the buoyancy device, start filling water to the zero buoyancy state, continue filling water to the specified liquid level, and detect whether the depth changes. If the platform starts to descend, stop filling water, and detect the height information from the ground and the attitude information in real time. When the attitude is abnormal, fine-tune it through the servo and thruster. When it is less than 1 meter, the buoyancy adjustment device starts filling water again and accelerates the descent until the highest liquid level is reached. After reaching the bottom of the water, the mission begins.

6. A multi-modal control method for an amphibious robot as claimed in claim 4 or 5, characterized in that: The specific process of switching to the navigation mode is as follows: first, the track device is paused, and the buoyancy adjustment device starts to drain water to a slightly negative buoyancy. At the same time, the tracks, thrusters, and steering gear are operated at the same time. If the platform starts to sail forward quickly and the height from the ground increases, the track motor is stopped and the water is drained to zero buoyancy. If the platform cannot move forward or the height from the ground remains unchanged, the water continues to be drained until the platform begins to float. After it starts to float, the liquid level is restored to zero buoyancy to complete the mode switching.

Images