Beach-oriented unmanned multi-crawler walking device cooperative control system and control method

Abstract

The invention relates to the technical field of unmanned walking devices, in particular to a beach-oriented unmanned multi-crawler walking device cooperative control system and a beach-oriented unmanned multi-crawler walking device cooperative control method. The sensing module comprises a Beidou receiving antenna, a speed sensor, a laser radar, a plurality of absolute encoder groups, a plurality of distance measuring sensor groups and a plurality of tilt angle sensors, and the Beidou receiving antenna, the speed sensor and the laser radar are mounted on the platform; the plurality of absolute encoder groups, the plurality of distance measuring sensor groups and the plurality of tilt angle sensors are arranged on the platform at intervals; and the cooperative control module comprises a master controller and a plurality of slave controllers connected to the master controller. According to the invention, the multi-crawler walking device can run according to an expected path, and the problem that a driver cannot comprehensively master the equipment and the global environment information is solved.

Description

Technical Field

[0001] This invention relates to the field of unmanned walking device technology, specifically to a collaborative control system and control method for an unmanned multi-track walking device oriented towards the beach. Background Technology

[0002] Multi-track walking devices, as key components of heavy transport equipment, are highly integrated and complex electromechanical systems. They are characterized by their large size and weight, large turning radius, and independent power and transmission systems. When operating in unknown, complex, and variable shallow water environments, traditional multi-track walking devices often rely on operator experience. Due to the complexity of the beach environment and the operator's incomplete understanding of the equipment and the overall environment, the multi-track walking device's trajectory deviates significantly from the desired trajectory, failing to achieve the expected results. For example, when operated manually, requiring the driver to exert considerable effort to dynamically adjust the steering track deflection angle or track speed to achieve the predetermined trajectory is extremely difficult.

[0003] The abrupt changes in shallow water environments can cause inconsistent slippage rates on the left and right tracked chassis, or one track may encounter an obstacle, resulting in a yawing moment on the vehicle body (due to different loads on the two tracks). When the yawing moment is large enough, it will cause the vehicle body to deflect during travel, gradually deviating from the intended path. Therefore, ultra-long multi-tracked walking devices must monitor and quickly adjust the vehicle's attitude online in real time. The platform lifting and leveling control system is crucial for the safe operation of the multi-tracked leveling device, simultaneously driving multiple motors on the legs for balanced lifting and lowering. Due to uneven terrain, manufacturing errors, and other factors, the leg motors may become asynchronous during platform lifting, causing the platform to tilt in two horizontal directions. In severe cases, this can damage the platform structure or cause it to become stuck.

[0004] In summary, for ultra-long multi-tracked walking devices (100m in length, 12 independent hydraulic drives) that travel in unknown, complex, and variable shallow water environments, a multi-mobile robot collaborative control system needs to be designed for various vehicles that need to travel and work on uneven tidal flat terrain, in order to improve operational efficiency, safety, and reliability. Summary of the Invention

[0005] The purpose of this invention is to provide a collaborative control system and method for an unmanned multi-tracked walking device oriented towards the beach, in order to solve the technical problem in the prior art where it is difficult to manually control an ultra-long multi-tracked walking device to walk along a predetermined trajectory in a beach environment. The specific technical solution is as follows:

[0006] This invention provides a collaborative control system for an unmanned multi-tracked walking device oriented towards a beach. The multi-tracked walking device includes multiple walking units, each walking unit including multiple platforms arranged linearly. Each platform has two or more tracked chassis underneath it, and each tracked chassis is connected to the platform by a liftable leg. The collaborative control system includes:

[0007] The sensing module includes a BeiDou receiving antenna, a velocity sensor, a lidar, multiple absolute encoder groups, multiple ranging sensor groups, and multiple tilt sensors. The BeiDou receiving antenna, the velocity sensor, and the lidar are mounted on the platform, and the multiple absolute encoder groups, multiple ranging sensor groups, and multiple tilt sensors are all spaced apart on the platform.

[0008] The collaborative control module includes a main controller and multiple slave controllers connected to the main controller. The main controller is connected to the Beidou receiving antenna, the speed sensor, the lidar, multiple absolute encoder groups, multiple ranging sensor groups, and multiple tilt sensors. Each slave controller is configured to correspond one-to-one with a walking unit. The slave controllers are respectively connected to the slave inverters and solenoid valves of the walking units. The slave inverters control the lifting and lowering of the platform in the walking unit, and the solenoid valves control the movement of the tracked chassis in the walking unit.

[0009] A further improvement of the collaborative control system for the unmanned multi-tracked walking device facing the beach of the present invention is that each platform is provided with four tracked chassis; the four tracked chassis are respectively located on both sides of the platform and distributed in a four-corner pattern; each absolute encoder group includes two absolute encoders located on both sides of the platform and correspondingly arranged, and the absolute encoders are respectively installed on the platform at the positions corresponding to the tracked chassis.

[0010] The present invention also provides a control method for a collaborative control system of an unmanned multi-track walking device facing a beach, as described above, comprising the following steps:

[0011] The position of each walking unit is obtained through the Beidou receiving antenna; the tilt angle of each platform of the walking unit is obtained through the inclinometer, and the included angle between two adjacent platforms is fed back in real time; the lifting height of the pile legs is obtained through the absolute encoder group; the speed of the multi-track walking device is obtained through the speed sensor; the distance of the platform from the sea level is measured through the range sensor; and the mudflat environment ahead is scanned by the lidar to calculate the distance and size of obstacles ahead.

[0012] The main controller acquires data from the Beidou receiving antenna, the speed sensor, the lidar, the absolute encoder group, the ranging sensor group, and the tilt sensor. Based on the acquired data, the main controller issues working commands to the slave controller. The slave controller controls the slave station frequency converter to raise and lower the platform according to the working commands. The slave controller also controls the operation of the walking motor of the multi-track walking device through the solenoid valve according to the working commands.

[0013] A further improvement of the collaborative control method for unmanned multi-tracked walking devices on beaches in this invention is that, when the slave controller controls the operation of the walking motor of the multi-tracked walking device through the solenoid valve according to the work instruction, it includes walking trajectory tracking control. Multiple walking devices are subjected to cluster motion control through a leader-follower distributed control algorithm to achieve coordinated movement among multiple walking devices.

[0014] A further improvement of the collaborative control method for unmanned multi-tracked walking devices on beaches in this invention is that the distributed control algorithm for the leader and followers includes defining the first platform of the walking device as the leader and the other platforms as followers. The leader walks along a predetermined path, and the distance between the followers and the leader is measured in real time by a ranging sensor. The position information relative to the leader is obtained in real time by a Beidou receiving antenna. The followers follow the leader based on the distance and position information relative to the leader.

[0015] A further improvement of the collaborative control method for the unmanned multi-track walking device facing the beach in this invention is that, when the slave controller controls the slave frequency converter to raise and lower the platform according to the work instructions, it includes adaptive leveling control. During the walking process, the raising and lowering of each pile leg is adjusted according to the feedback of the tilt angle value of each platform extension direction, so that the tilt angle of each platform extension direction is kept within the required threshold range.

[0016] A further improvement of the collaborative control method for an unmanned multi-tracked walking device facing the beach in this invention lies in the fact that, when adjusting the lifting and lowering of each leg, the tilt angle of the walking device in two horizontal directions is detected by an tilt sensor. Combined with an absolute encoder and a distance sensor, the highest or lowest point is used as a reference point to calculate the vertical distance of the other three points of the platform from the reference point, establishing a proportional relationship between the tilt angle and the lifting and lowering speed of each leg. By adjusting the rotational speed of the motors of the low or high legs, the attitude of the platform is controlled, achieving a hybrid synchronous control of the platform lifting and lowering speed and the platform tilt angle leveling, so that the platform reaches the threshold range.

[0017] A further improvement of the collaborative control method for an unmanned multi-tracked walking device for beaches in this invention lies in the following: when adjusting the lifting and lowering of each leg, the tilt angle of the tracked walking device platform and each leg in both longitudinal and lateral directions is detected by an tilt angle sensor. The coordinates of the contact point of each leg are calculated using the current length of the leg and the angle between the leg and the platform. The coordinates of each leg in the leveling state are calculated using the current tilt angle of the platform. The absolute distance between the leveling coordinates and the ground contact coordinates of each leg is calculated by combining an absolute encoder and a distance sensor. The proportional relationship between the tilt angle and the extension / retraction of the leg is indirectly established by the mathematical relationship between the tilt angle and the lifting and lowering speed of each leg. By controlling the lifting and lowering speed of the legs, the attitude of the platform is controlled, realizing the hybrid synchronous control of the platform lifting speed and the platform tilt angle leveling, so that the platform reaches the threshold range.

[0018] A further improvement of the cooperative control method for the unmanned multi-track walking device facing the beach in this invention lies in the following steps for calculating the target extension and retraction of each leg:

[0019] Let P be the coordinate of any leg in the platform coordinate system, and P0 be the coordinate when it is adjusted to a horizontal state:

[0020] P0 = Rot(X, α)Rot(Y, β)P

[0021] By combining the inclination angle of the pile legs with the pile leg length, a pile leg vector L is constructed, and the coordinates of the contact point of each pile leg are obtained as P. g :

[0022] P g =Rot(X, α′)Rot(Y, β)L

[0023]

[0024] Where: Rot represents the Euler angle formula; X represents the X-axis; Y represents the Y-axis; α represents the rotation angle of the platform around the X-axis during the process of adjusting the platform coordinate system to a horizontal state; β represents the rotation angle of the platform around the Y-axis during the process of adjusting the platform coordinate system to a horizontal state; α' represents the rotation angle of the pile leg around the X-axis during the process of adjusting the platform coordinate system to a horizontal state; β' represents the rotation angle of the pile leg around the Y-axis during the process of adjusting the platform coordinate system to a horizontal state; Δh represents the target extension / retraction of the pile leg.

[0025] A further improvement of the collaborative control method for unmanned multi-tracked walking devices facing the beach in this invention is that when the master controller issues a working instruction to the slave controller based on data, the master controller issues an obstacle-crossing instruction to the slave controller. The slave controller performs obstacle-crossing control on the tracked walking device, and obtains and calculates the distance and height to the obstacle in front in real time to ensure that the distance and height when crossing the obstacle are greater than the width and height of the obstacle.

[0026] The application of the technical solution of the present invention has the following beneficial effects:

[0027] This invention relates to a collaborative control system for unmanned multi-tracked walking devices on beaches. By combining a sensing module and a collaborative control module, it addresses the technical problem in existing technologies where it is difficult to manually control ultra-long multi-tracked walking devices to follow a predetermined trajectory in a beach environment. This invention establishes a distributed control strategy with leaders and followers to ensure coordinated movement among the walking devices, enabling the multi-tracked walking devices to travel along the desired path. Furthermore, through a multi-sensor information perception system, it monitors the environment, equipment movement, and load changes online in real time, solving the problem of insufficient control by the operator over the overall information of the equipment and the environment.

[0028] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0029] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0030] Figure 1 This is a side view of the sensor module layout of the multi-track walking device in the collaborative control system of the unmanned multi-track walking device facing the beach according to the present invention.

[0031] Figure 2 This is a top view of the sensor module layout of the multi-track walking device in the collaborative control system of the unmanned multi-track walking device facing the beach according to the present invention.

[0032] Figure 3 This is a control flowchart of the collaborative control module of the collaborative control system for the unmanned multi-track walking device for beaches of the present invention.

[0033] Figure 4 This invention relates to the trajectory tracking and control process of the collaborative control method for an unmanned multi-tracked walking device for beaches. Figure 1 .

[0034] Figure 5 This invention relates to the trajectory tracking and control process of the collaborative control method for an unmanned multi-tracked walking device for beaches. Figure 2 .

[0035] Figure 6 This is an adaptive leveling control flowchart of the cooperative control method for the unmanned multi-track walking device for beaches according to the present invention.

[0036] Figure 7This is a flowchart of the obstacle-crossing control method for the collaborative control method of the unmanned multi-track walking device for beaches according to the present invention.

[0037] Figure 8 This is a schematic diagram illustrating the calculation of the target extension and retraction of the pile legs in the collaborative control method of the unmanned multi-track walking device for beaches according to the present invention.

[0038] The components include: 1. Platform; 2. Legs; 3. Tracked chassis; 4. Distance sensor; 5. Absolute encoder; 6. Tilt sensor; 7. Beidou receiving antenna; and 8. LiDAR. Detailed Implementation

[0039] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] The purpose of this invention is to solve the problems and difficulties existing in the prior art. It proposes a collaborative control system and control method for unmanned multi-tracked walking devices oriented towards uneven tidal flats. The collaborative control of unmanned multi-tracked walking devices oriented towards water includes perception, control, and execution. This method has the characteristics of comprehensive perception, collaborative control decision-making, and automatic interaction. It solves the problems of efficient trajectory tracking, adaptive leveling, and obstacle crossing of ultra-long multi-tracked walking devices on complex and ever-changing beaches.

[0041] See Figures 1 to 8 As shown, a collaborative control system for an unmanned multi-tracked walking device facing a beach is disclosed. The multi-tracked walking device includes multiple walking units, each walking unit including multiple platforms 1 arranged linearly. Each platform 1 has two tracked chassis 3 mounted on it. Each tracked chassis 3 is connected to the platform 1 by a liftable leg 2. The collaborative control system includes:

[0042] The sensing module includes a Beidou receiving antenna 7, a velocity sensor, a lidar 8, multiple absolute encoders 5 sets, multiple ranging sensors 4 sets, and multiple tilt sensors 6. The Beidou receiving antenna 7, the velocity sensor, and the lidar 8 are mounted on the platform 1, and the multiple absolute encoders 5 sets, the multiple ranging sensors 4 sets, and the multiple tilt sensors 6 are all spaced apart on the platform 1.

[0043] The collaborative control module includes a main controller and multiple slave controllers connected to the main controller. The main controller is connected to the Beidou receiving antenna 7, the speed sensor, the lidar 8, multiple absolute encoders 5, multiple ranging sensors 4, and multiple tilt sensors 6. The multiple slave controllers are configured one-to-one with the walking unit. The slave controllers are respectively connected to the slave inverter and solenoid valve of the walking unit. The slave inverter controls the lifting and lowering of the platform 1 in the walking unit, and the solenoid valve controls the movement of the tracked chassis 3 in the walking unit.

[0044] The various data measurement devices in this sensing module combine to form a multi-sensor information sensing system. Due to the complex and varied beach terrain, the multi-tracked walking device needs to adapt to sand dunes, wet sand, and seawater terrain. Therefore, a multi-sensor information sensing system integrating environment, motion, and load was designed. This sensing system not only senses terrain information but also its own motion and load data, helping the vehicle adapt to different types of beach terrain, solving problems such as driving along diagonal lines, running aground, and colliding, improving obstacle-crossing ability, and ensuring stable driving.

[0045] Preferred, such as Figure 1 and Figure 2 As shown, each platform 1 has four tracked chassis 3. These four tracked chassis 3 are located on both sides of the platform 1, arranged in a four-corner configuration. Each absolute encoder group 5 includes two absolute encoders 5 located on both sides of the platform 1, corresponding to the positions of the tracked chassis 3. Specifically, the tilt sensor 6 is fixed in the middle of the platform 1, between two adjacent absolute encoder groups 5. The lidar 8 and the Beidou receiving antenna 7 are both fixed to the first platform 1.

[0046] The present invention also provides a control method for a collaborative control system of an unmanned multi-track walking device facing a beach, as described above, comprising the following steps:

[0047] The position of each walking unit is obtained through the Beidou navigation function of the Beidou receiving antenna 7; the tilt angle of each platform 1 of the walking unit is obtained through the inclinometer, and the included angle between two adjacent platforms 1 is fed back in real time; the lifting height of the pile legs 2 is obtained through the absolute encoder group; the speed of the multi-track walking device is obtained through the speed sensor; the distance of platform 1 from the sea level is measured through the ranging sensor 4; and the distance and size of obstacles ahead are calculated by scanning the beach environment ahead with the lidar 8.

[0048] like Figure 3 As shown, the main controller acquires data from the Beidou receiving antenna 7, the speed sensor, the lidar 8, the absolute encoder 5 sets, the ranging sensor 4 sets, and the tilt sensor 6. The main controller issues working commands to the slave controller based on the acquired data. The slave controller controls the slave station frequency converter to raise and lower the platform 1 according to the working commands. The slave controller controls the operation of the walking motor of the multi-track walking device through the solenoid valve according to the working commands.

[0049] Figure 3The flowchart shows the control process of the collaborative control module. The specific operation flow is as follows: the main controller is controlled by the industrial control computer. The main controller sends control commands to slave controller 1, slave controller 2 and slave controller N. Each slave controller controls the operation of the connected scanning module, walking module, turning module and height leveling module. At the same time, the scanning module, walking module, turning module and height leveling module are all connected to the lidar, absolute encoder, ranging sensor, tilt sensor and Beidou receiving antenna. The lidar, absolute encoder, ranging sensor, tilt sensor and Beidou receiving antenna feed back the data they measure to the industrial control computer.

[0050] The multi-tracked walking device is equipped with a Beidou receiving antenna 7, an encoder, a speed sensor, and an tilt sensor, which can sense the current position and attitude of the entire device. Specifically, the Beidou receiving antenna 7 senses the position and orientation of each platform 1, achieving precise positioning of the tracked vehicle; the tilt sensor 6 uses an inclinometer to sense the tilt angle of each platform 1, providing online feedback of the angle between adjacent platforms 1; and the ranging sensor 4 uses an ultrasonic ranging sensor to measure the distance of each platform 1 from the sea level, overcoming factors such as diffuse reflection, seawater light transmission, and waves. The arrangement of the ranging sensor 4 is shown in [details omitted]. Figure 1 and Figure 2 .

[0051] This invention designs a distributed collaborative control module suitable for shallow water environments, such as... Figure 3 As shown, this module includes a main controller and multiple slave controllers. The main controller is controlled by an industrial computer and is responsible for coordinating tasks. The slave controllers are responsible for the actual movement of the multi-track walking device, the raising and lowering of the legs 2, obstacle crossing, and slope parking. The main controller obtains the position coordinates and attitude parameters of platform 1 based on the tilt sensor 6, Beidou receiving antenna 7, and lidar 8 in the sensing layer. The main controller sends working commands to the slave controllers, and the slave station frequency converter and solenoid valve drive the motor and the walking motor of the tracked chassis 3, respectively. Among them, the motor drives the gears to rotate through the reduction gearbox, and the gear and rack mesh with each other to raise and lower platform 1.

[0052] The actuators of the multi-track walking device automatically control the tracking of target motion parameters. They primarily use the path deviation between the target path and the actual path, and the deviation between the target tilt angle and the actual tilt angle of platform 1, as control inputs to each slave controller. This controls the speed synchronization error between the tracked chassis and the lifting error of multiple legs 2. Specific control strategies include walking trajectory tracking control, adaptive leveling control, and obstacle-crossing control.

[0053] Preferred, such as Figure 4 and Figure 5As shown, when the controller controls the operation of the walking motor of the multi-track walking device through the solenoid valve according to the work command, it includes walking trajectory tracking control. Multiple walking devices are controlled in a cluster motion through a leader and follower distributed control algorithm to achieve coordinated movement among multiple walking devices.

[0054] Figure 4 The flowchart for the navigator operation of the walking trajectory tracking control is as follows: First, start, then assign navigator identifiers, then preset navigator path, drive according to the path, and use Beidou and inertial navigation to obtain the current position and attitude of the navigator to determine the working condition of the multi-track walking device. If it is in an uphill working condition, downhill working condition, or obstacle ahead working condition, then determine whether the multi-track walking device is greater than the path deviation error threshold.

[0055] If so, the signal is transmitted to the controller (master controller or slave controller), and then the system returns to driving according to the path.

[0056] If not, continue moving forward, record the navigator's movement and attitude information, and determine whether the navigator has reached its stopping position. If yes, the movement of the multi-track walking device ends; if not, return to the path.

[0057] Figure 5 The flowchart shows the operation of the follower in the trajectory tracking control. The specific operation process is as follows: first, assign a follower identifier; then, based on the navigator's motion information, drive according to the navigator's motion information; and finally, based on BeiDou and inertial navigation, acquire follower motion data and determine whether it is greater than the navigator's path error.

[0058] If so, the coefficient and speed of the multi-track walking device are adjusted through the follower controller, and then the device returns to the path-based driving mode.

[0059] If not, determine whether the follower has stopped. If yes, the multi-track walking device ends its movement; otherwise, return to the path it was following. Figure 4 Line A in Figure 5 The A-line connection in the diagram links the two steps of continuing forward and recording the navigator's motion and attitude information with the steps based on the navigator's motion information.

[0060] Preferably, the distributed control algorithm for leaders and followers includes defining the first platform 1 of the walking device as the leader and the other platforms 1 as followers. The leader walks along a predetermined path, and the distance between the follower and the leader is measured in real time by the ranging sensor 4. The position information relative to the leader is obtained in real time by the Beidou receiving antenna 7. The follower follows the leader based on the distance and position information relative to the leader.

[0061] The advantage of adopting a distributed structure is that it breaks down the overall system of the multi-tracked walking device into multiple independent subsystems, allowing for hierarchical control of these subsystems. This simplifies the computational complexity of the entire system and enables it to adapt to various operational scenarios more effectively and efficiently. In uneven terrain, the distributed trajectory tracking control method for the leader and followers of the multi-tracked walking device allows the leader to control the movement trend of the entire formation by walking along a predetermined path. Followers, based on their distance and orientation relative to the leader, follow the leader to achieve formation control. This enables coordinated movement between the walking devices, ensuring speed and direction coordination between the tracked chassis 3, and allowing platform 1 to travel smoothly along the desired straight path.

[0062] Specifically, when followers follow the navigator to achieve formation control based on the distance and orientation information relative to the navigator, the navigator sets the track and speed, and the followers adjust their own position and speed information by receiving the navigator's real-time position and speed information in order to maintain the preset relative distance and angle.

[0063] Preferred, such as Figure 6 As shown, when the slave controller controls the slave frequency converter to raise and lower the platform 1 according to the work instructions, it includes adaptive leveling control. During the movement, the raising and lowering of each pile leg 2 is adjusted according to the feedback of the tilt angle value of each platform 1 in the extension direction, so that the tilt angle of each platform 1 in the extension direction is kept within the required threshold range.

[0064] Preferably, when adjusting the lifting and lowering of each leg 2, the tilt angle of the walking device in two horizontal directions is detected by the tilt sensor 6. Combined with the absolute encoder 5 and the distance sensor 4, the highest or lowest point is used as a reference point to calculate the vertical distance of the other three points of the platform 1 from the reference point. The proportional relationship between the tilt angle and the lifting and lowering speed of each leg 2 is established. By adjusting the speed of the motor of the low or high leg 2, the attitude of the platform 1 is controlled, realizing the hybrid synchronous control of the lifting and lowering speed of the platform 1 and the tilt angle leveling of the platform 1, so that the platform 1 reaches the threshold range.

[0065] Figure 6 The adaptive leveling control flowchart shows the specific operation process as follows: First, the chassis of the multi-track walking device moves, and the tilt angle of each multi-track walking device platform is obtained. Based on the tilt angle data, it is calculated whether the included angle exceeds the threshold. If not, it returns to the chassis of the track walking device. If so, the current ground state is determined based on the angle change value of the first track platform.

[0066] When it is uphill or downhill, the angle of adjustment of the front and rear platforms is calculated based on the weight coefficient, the lifting amount of the pile legs is calculated based on the adjustment angle, the lifting speed of each pile leg is calculated, and then it is determined whether the included angle of the platform is within the design range. If so, the remote movement of the multi-track walking device ends. If not, it returns to the calculation of the angle of adjustment of the front and rear platforms based on the weight coefficient or the calculation of the shortest pile leg value of the adjacent platform based on the chasing method.

[0067] When the slope is gentle, the shortest leg value of the adjacent platform is calculated according to the following method. It is then determined whether the shortest leg value is less than the minimum value. If not, it is determined whether the platform angle is within the design range. If so, all legs are adjusted to the minimum value, and then the system returns to the chassis of the tracked walking device.

[0068] In this embodiment, the tilt sensor 6 is a dual-axis tilt sensor 6. The dual-axis tilt sensor 6 detects the tilt angles of the multi-track walking device in two horizontal directions. Combined with the absolute encoder 5 and the distance sensor 4, the highest point (lowest point) is used as a reference point to calculate the vertical distance of the other three points of platform 1 from the reference point. Based on this, a proportional relationship is established between the tilt angle and the lifting speed of each leg 2. By adjusting the motor speed of the leg 2 at the low (high) point, the attitude of platform 1 around the X-axis (Y-axis) is controlled, achieving hybrid synchronous control of the lifting speed and tilt angle leveling of platform 1, enabling platform 1 to quickly reach the ±5.7° threshold. This hybrid synchronous control method of platform 1 lifting speed and tilt angle leveling, based on the detection feedback of the tilt angles, lifting strokes, and height above sea level or ground of each leg 2, rapidly adjusts the lifting of each tracked leg 2 to adapt to terrain with different slopes, ensuring that the tilt angle of each platform 1 in its extension direction remains within the required threshold range, which is ±5.7°.

[0069] Specifically, the tilt angle of the tracked walking device platform and each leg 2 in both longitudinal and lateral directions is detected by the tilt sensor 6. The coordinates of the contact point of each leg 2 are calculated using the current length of the leg 2 and the angle between it and the platform 1; the coordinates of each leg 2 in the leveled state are calculated using the current tilt angle of the platform 1. The absolute distance between the leveling coordinates and the ground contact coordinates of each leg 2 is calculated using the absolute encoder 5 and the distance sensor 4. Through the mathematical relationship between the tilt angle and the extension / retraction of the leg 2, a proportional relationship between the tilt angle and the lifting / lowering speed of each leg 2 is indirectly established. The lifting / lowering speed is determined by the rotational speed of the motor controlling the leg 2, thereby controlling the platform's attitude (tilt angle) and achieving hybrid synchronous control of the platform's lifting / lowering speed and platform tilt angle leveling, bringing the platform 1 to a threshold range.

[0070] The calculation steps for the target expansion and contraction of each pile leg 2 are as follows:

[0071] like Figure 8As shown, let the coordinate of any leg 2 in the platform coordinate system be P, and its coordinate when adjusted to a horizontal state be P0:

[0072] P0 = Rot(X, α)Rot(Y, β)P

[0073] Based on the inclination angle of pile leg 2, a pile leg vector L is constructed using the length of pile leg 2, and the coordinates of the contact point of each pile leg 2 are obtained as P. g :

[0074] P g =Rot(X,α′)Rot(Y,β′)L

[0075]

[0076] Where: Rot represents the Euler angle formula; X represents the X-axis; Y represents the Y-axis; α represents the rotation angle of the platform around the X-axis during the process of adjusting the platform coordinate system to a horizontal state; β represents the rotation angle of the platform around the Y-axis during the process of adjusting the platform coordinate system to a horizontal state; α' represents the rotation angle of the pile leg around the X-axis during the process of adjusting the platform coordinate system to a horizontal state; β' represents the rotation angle of the pile leg around the Y-axis during the process of adjusting the platform coordinate system to a horizontal state; Δh represents the target extension / retraction of the pile leg.

[0077] Preferred, such as Figure 7 As shown, when the main controller issues a working instruction to the slave controller based on the data, the main controller issues an obstacle crossing instruction to the slave controller. The slave controller performs obstacle crossing control on the tracked walking device, and obtains and calculates the distance and height to the obstacle in front in real time to ensure that the distance and height when crossing the obstacle are greater than the width and height of the obstacle.

[0078] Figure 7 The obstacle crossing control flowchart describes the specific operation process as follows: First, the multi-tracked walking device's chassis moves, and the lidar scans the beach ahead to determine if there are obstacles within a safe distance. If not, it returns to the chassis of the multi-tracked walking device. If so, point cloud processing and 3D reconstruction technology are used to obtain the obstacle's size and location. The controller then controls the chassis to decelerate and raise the legs until it passes the obstacle, determining if obstacle crossing was successful. If not, it returns to the chassis and raises the legs until it passes the obstacle. If successful, it continues moving, determining if it has reached the stopping position. If not, it returns to the chassis of the multi-tracked walking device; if successful, the movement ends.

[0079] To effectively avoid large sand pits or rocky obstacles in the beach environment, a lidar 8 scans the mudflats ahead, calculating the distance between the obstacle and the multi-tracked walking device in real time. The obstacle height is obtained using point cloud processing and 3D reconstruction technology (existing technology, not detailed here). After the multi-tracked walking device reaches a safe distance in front of the obstacle, it raises its foremost leg 2 to a designated height (greater than the highest point of the obstacle) to clear the obstacle. After clearing the obstacle, the foremost leg 2 descends, and the torque of the lifting motor determines whether the leg 2 has made contact with the beach.

[0080] This invention relates to a multi-track walking device with a collaborative control module that enables straight-line walking uphill (downhill), platform 1 leveling, and obstacle crossing. The collaborative control module utilizes information collected by the sensing module and employs a distributed control algorithm between the leader and followers to achieve automatic and rapid leveling of the multi-leg platform 1, obstacle recognition, and obstacle crossing, achieving the goal of "walking, recognizing, and adjusting simultaneously," thus improving the efficiency and safety of water operations. A hybrid synchronous control method is proposed for the lifting speed of multiple lifting piles and the leveling of the platform 1 tilt angle. This method ensures that the tilt angle of each 33m long platform 1 is less than 3°, and the angle error between adjacent platforms 1 is less than ±5.7°, solving the problem of platform 1 structural damage or jamming, and addressing the challenge of synchronous control of multiple motors on the platform 1 legs and the balance control of the platform 1. The sensing module can comprehensively perceive complex and changing environmental information, vehicle posture under different working conditions, and workload. A distributed redundant decision-making control method between the leader and followers, enabling "walking, recognizing, and leveling simultaneously," is proposed, improving the robustness, flexibility, and collaborative capability of the entire system's "walking-leveling-obstacle crossing" process.

[0081] This invention relates to a collaborative control system for unmanned multi-tracked walking devices on beaches. By combining a sensing module and a collaborative control module, it addresses the technical problem in existing technologies where it is difficult to manually control ultra-long multi-tracked walking devices to follow a predetermined trajectory in a beach environment. This invention establishes a distributed control strategy with a leader and followers, ensuring coordinated movement among the walking devices and enabling them to travel along the desired path with a trajectory tracking error of less than 20cm. Furthermore, through a multi-sensor information perception system, it monitors the environment, equipment movement, and load changes online in real time, solving the problem of insufficient control by the operator over the overall information of the equipment and the environment.

[0082] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A collaborative control system for an unmanned multi-tracked walking device facing a beach, the multi-tracked walking device comprising multiple walking units, each walking unit comprising multiple platforms, the multiple platforms being arranged linearly, each platform having two or more tracked chassis underneath, and each tracked chassis being connected to the platform by a liftable leg, characterized in that... The collaborative control system includes: The sensing module includes a BeiDou receiving antenna, a velocity sensor, a lidar, multiple absolute encoder groups, multiple ranging sensor groups, and multiple tilt sensors. The BeiDou receiving antenna, the velocity sensor, and the lidar are mounted on the platform, and the multiple absolute encoder groups, multiple ranging sensor groups, and multiple tilt sensors are all spaced apart on the platform. The collaborative control module includes a main controller and multiple slave controllers connected to the main controller. The main controller is connected to the Beidou receiving antenna, the speed sensor, the lidar, multiple absolute encoder groups, multiple ranging sensor groups, and multiple tilt sensors. Each slave controller is configured in a one-to-one correspondence with a walking unit. The slave controllers are respectively connected to slave frequency converters and solenoid valves in the walking unit. The slave frequency converters control the lifting and lowering of the platform in the walking unit, and the solenoid valves control the movement of the tracked chassis in the walking unit.

2. The collaborative control system for an unmanned multi-track walking device facing a beach according to claim 1, characterized in that, Each platform is provided with four tracked chassis; the four tracked chassis are located on both sides of the platform and are distributed in a four-corner arrangement. Each absolute encoder group includes two absolute encoders located on both sides of the platform and correspondingly arranged. The absolute encoders are respectively installed on the platform at the positions corresponding to the tracked chassis.

3. A control method employing the collaborative control system of an unmanned multi-track walking device facing a beach as described in claim 1, characterized in that, Includes the following steps: The position of each traveling unit is obtained through a Beidou receiving antenna, the tilt angle of each platform of the traveling unit is obtained through an inclinometer, and the included angle between two adjacent platforms is fed back in real time; the lifting height of the pile legs is obtained through an absolute encoder group. The speed of the multi-tracked walking device is obtained through a speed sensor; the distance between the platform and the sea level is measured through a range sensor; and the distance and size of obstacles ahead are calculated by scanning the tidal flat environment ahead with a lidar. The main controller acquires data from the Beidou receiving antenna, the speed sensor, the lidar, the absolute encoder group, the ranging sensor group, and the tilt sensor. Based on the acquired data, the main controller issues working commands to the slave controller. Based on the working commands, the slave controller controls the slave frequency converter to raise and lower the platform. Based on the working commands, the slave controller controls the operation of the walking motor of the multi-track walking device through the solenoid valve.

4. The collaborative control method for an unmanned multi-track walking device oriented towards a beach according to claim 3, characterized in that, When the controller controls the operation of the walking motor of the multi-track walking device through the solenoid valve according to the work instruction, it includes walking trajectory tracking control. The multiple walking devices are controlled in a cluster motion through a leader and follower distributed control algorithm to achieve coordinated movement among the multiple walking devices.

5. The collaborative control method for an unmanned multi-track walking device oriented towards a beach according to claim 4, characterized in that, The distributed control algorithm for leaders and followers involves defining the first platform of the walking device as the navigator and the other platforms as followers. The navigator walks along a predetermined path, and the distance between the followers and the navigator is measured in real time by a ranging sensor. The azimuth information relative to the navigator is obtained in real time by a Beidou receiving antenna. The followers follow the navigator based on the distance and azimuth information relative to the navigator.

6. The cooperative control method for an unmanned multi-track walking device oriented towards a beach according to claim 3, characterized in that, When the slave controller controls the slave frequency converter to raise and lower the platform according to the work instructions, it includes adaptive leveling control. During the movement, the raising and lowering of each pile leg is adjusted according to the feedback of the tilt angle value of each platform extension direction, so that the tilt angle of each platform extension direction is kept within the required threshold range.

7. The cooperative control method for an unmanned multi-track walking device facing a beach according to claim 6, characterized in that, When adjusting the lifting and lowering of each leg, the tilt angle of the walking device in two horizontal directions is detected by the tilt sensor. Combined with the absolute encoder and the distance sensor, the highest or lowest point is used as the reference point. The vertical distance of the other three points of the platform from the reference point is calculated to establish the proportional relationship between the tilt angle and the lifting and lowering speed of each leg. By adjusting the speed of the motor of the low or high leg, the attitude of the platform is controlled, realizing the hybrid synchronous control of the platform lifting and lowering speed and the platform tilt angle leveling, so that the platform reaches the threshold range.

8. The cooperative control method for an unmanned multi-track walking device facing a beach according to claim 7, characterized in that, When adjusting the lifting and lowering of each leg, the tilt angle of the tracked walking device platform and each leg in both longitudinal and lateral directions is detected by tilt sensors. The coordinates of the contact point of each leg are calculated by using the current length of the leg and the angle between the leg and the platform. The coordinates of each leg in the leveling state are calculated by using the current tilt angle of the platform. The absolute distance between the leveling coordinates and the ground contact coordinates of each leg is calculated by combining the absolute encoder and the distance sensor. By using the mathematical relationship between the tilt angle and the extension and retraction of the leg, the proportional relationship between the tilt angle and the lifting and lowering speed of each leg is indirectly established. By controlling the lifting and lowering speed of the legs, the attitude of the platform is controlled, realizing the hybrid synchronous control of the platform lifting speed and the platform tilt angle leveling, so that the platform reaches the threshold range.

9. The collaborative control method for an unmanned multi-track walking device oriented towards a beach according to claim 8, characterized in that, The calculation steps for the target expansion / contraction of each pile leg are as follows: Let P be the coordinate of any leg in the platform coordinate system, and P0 be the coordinate when it is adjusted to a horizontal state: P0 = Rot(X, α)Rot(Y, β)P By combining the inclination angle of the pile legs with the pile leg length, a pile leg vector L is constructed, and the coordinates of the contact point of each pile leg are obtained as P. g : P g =Rot(X, α')Rot(Y, β')L Where: Rot represents the Euler angle formula; X represents the X-axis; Y represents the Y-axis; α represents the rotation angle of the platform around the X-axis during the process of adjusting the platform coordinate system to a horizontal state; β represents the rotation angle of the platform around the Y-axis during the process of adjusting the platform coordinate system to a horizontal state; α' represents the rotation angle of the pile leg around the X-axis during the process of adjusting the platform coordinate system to a horizontal state; β' represents the rotation angle of the pile leg around the Y-axis during the process of adjusting the platform coordinate system to a horizontal state; Δh represents the target extension / retraction of the pile leg.

10. The cooperative control method for an unmanned multi-track walking device oriented towards a beach according to claim 3, characterized in that, When the main controller issues a working instruction to the slave controller based on the data, the main controller issues an obstacle crossing instruction to the slave controller. The slave controller performs obstacle crossing control on the tracked walking device, and obtains and calculates the distance and height to the obstacle in front in real time to ensure that the distance and height when crossing the obstacle are greater than the width and height of the obstacle.

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