CN111158290B - Multi-modal control method and device for unmanned equipment - Google Patents
Multi-modal control method and device for unmanned equipment Download PDFInfo
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- CN111158290B CN111158290B CN201911425776.7A CN201911425776A CN111158290B CN 111158290 B CN111158290 B CN 111158290B CN 201911425776 A CN201911425776 A CN 201911425776A CN 111158290 B CN111158290 B CN 111158290B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to the technical field of unmanned control, and provides a multi-mode control method for unmanned equipment, which comprises the steps of acquiring identification information of an assembly module connected with a core module through the core module; the core module selects one control mode of a plurality of modal control modes according to the acquired identification information, and displays the identification information of other required assembly modules in the selected control mode; during assembly, the core module detects the equipment state of the assembly module; and sending a control signal to the core module through a telemetry control module, and controlling the assembly module to execute the control signal by the core module. The invention also provides a multi-mode control device, the flexible assembly of the assembly module and the core module is realized through the multi-mode control method and the multi-mode control device, the control mode of the unmanned equipment can be effectively adjusted, and the adaptability of the unmanned equipment under different environments is improved.
Description
Technical Field
The invention relates to the technical field of unmanned control, in particular to a multi-mode control method for unmanned equipment and a device for multi-mode control of the unmanned equipment.
Background
Along with the development of the technology, unmanned control equipment such as unmanned aerial vehicles, unmanned vehicles and unmanned boats can be widely applied in various fields. Different products have different advantages and are widely used in a certain field, but are also restricted due to the respective disadvantages of the respective products. For example, fixed wing unmanned aerial vehicle has the time of flight long, and fast, advantages such as simple structure is easy to maintain are the most common product in the existing unmanned aerial vehicle market, but fixed wing unmanned aerial vehicle requires highly to the place of taking off and landing, and the incident rate is high in the aircraft landing safety, and parachuting and hitting the net recovery can cause partial damage to the fuselage, improve shortcomings such as maintenance cost. The helicopter and the multiple rotors have the characteristics of vertical take-off and landing, fixed-point hovering, low-speed flying winding and the like, and have good adaptability to narrow and complex environments such as valleys and urban areas, so the helicopter and the multiple rotors are widely applied to the fields of emergency rescue, monitoring and the like, but the helicopter is complex in structure and high in maintenance cost, and the multiple rotors are limited by a battery technology, so that the cruising ability is limited. In addition, some scientific research institutions have developed the unmanned aerial vehicle aircraft that has many rotors and fixed wing characteristic concurrently with unmanned aerial vehicle production unit in recent years, have the rotor design that verts and the design is directly connected to many rotors fixed wing, but the rotor process control degree of difficulty that verts is high, and aerodynamic interference is serious, leads to security poor with maintainability, and especially the heavy load rotor unmanned aerial vehicle that verts still is fresh at present to be researched. The multi-rotor fixed wing direct-connection design reduces the uploading coefficient, and the multi-axis part becomes dead weight when the fixed wing mode is cruising. An X50A canard rotary wing aircraft is designed by the American research institution, an aileron in a fixed wing mode of an X50A unmanned aerial vehicle can be changed into a rotor wing rotating at a high speed during vertical take-off and landing, related data are limited at present, but the stability of switching between a courseware mode and a crash courseware mode due to accidents occurring successively from two prototype machines of the aileron needs to be further researched.
At present, the unmanned control equipment on the market has no design which can concentrate the advantages of the unmanned aerial vehicle, the unmanned boat and the like together, so that the defects of all the equipment cannot be overcome simultaneously, and the unmanned control equipment is more widely applied in each field. This creates an obstacle to the applicability of the unmanned device in different environments.
Disclosure of Invention
In view of the limitations of the prior art, the present invention provides a method for multimodal control of an unmanned aerial vehicle, which is capable of meeting the use requirements of users in different environments by presetting a plurality of modal control modes in a core module and selecting the control modes through an assembly module connected to the core module. The invention also provides a multi-mode control device for the unmanned equipment, which is provided with a core module, an assembly module and a telemetering control module, the assembly module with different identification information is flexibly assembled with the core module, and the selection of the assembly module and the control mode is adjusted according to different use environments to meet the use requirements, so that the adaptability of the unmanned equipment in different environments is greatly improved.
The multi-modal control method for the unmanned aerial vehicle according to the embodiment of the invention comprises the following steps: acquiring identification information of a first assembly module connected with the core module through the core module; the core module selects one control mode of the plurality of modal control modes according to the acquired identification information, and displays the identification information (such as installation prompt information) of other required assembly modules in the selected control mode; the core module detects the equipment state of the assembly module in the selected one control mode; after the required assembly modules are installed in the core module, control signals are sent to the core module through a telemetry control module, and the core module controls the assembly modules to execute the control signals.
According to an embodiment of the invention, the device state of the assembly module comprises: the connection state of the assembly module and the core module (e.g., whether the connection is normal), whether the expansion interface of the assembly module is configured correctly (e.g., whether the interface is plugged backwards), whether the hardware of the assembly module is damaged, and the like. Further, according to the embodiment of the present invention, after the first assembly module is identified by the core module and one control mode is selected, the core module detects the device state of the assembly module connected subsequently, and does not perform the selection of the control mode.
In one embodiment of the invention, the equipment status information of the assembly module and the installation information with the core module are displayed by the telemetry control module. According to an embodiment of the present invention, the information displayed by the telemetry control module includes the type of the assembly modules, the installation positions of the assembly modules, the installation number of the assembly modules, whether the assembly modules are correctly installed, whether the communication between the assembly modules and the core module is normal, whether the assembly modules can normally operate, and the like, which are required in a selected control mode, and thus, the information displayed by the telemetry control module is helpful for prompting a user to perform correct installation. Through showing information makes the user can be faster and more accurate assembles the module of difference, also can distinguish trouble module simultaneously.
In one embodiment of the present invention, the identification information includes: device ID information of an assembly module and/or electrical signals fed back by the assembly module. According to the embodiment of the invention, the core module identifies the assembly module according to the equipment ID information of the assembly module and selects a control mode; or when the assembly module is connected with the core module, the assembly module feeds back an electric signal to the core module, and the core module identifies the assembly module according to the electric signal.
In an embodiment of the present invention, the method further comprises collecting, by the assembly module, control parameters of the unmanned aerial device. Such as speed, ambient temperature, position and attitude, etc. According to the method and the device, the control parameter information of the unmanned equipment is collected, so that the control requirement of the unmanned equipment is met. Meanwhile, the assembling modules with different data acquisition functions can be arranged according to task requirements, and diversified data acquisition task requirements are met.
The multi-modal control device comprises a core module, an assembly module electrically connected with the core module and a telemetry control module wirelessly connected with the core module, wherein the assembly module is used for providing power for the multi-modal control device; the core module is used for receiving and processing the electric signals fed back by the assembly module and transmitted by the telemetry control module, the core module is provided with an expansion interface matched with the assembly module, and a plurality of modal control modes are preset in the core module; the assembly module is provided with identification information which is identified by the core module and corresponds to at least one control mode in the plurality of modal control modes, and the assembly module is used for executing the instruction generated by the core module and feeding back the instruction; after the first assembly module is matched and connected with the core module, the core module selects one control mode of the plurality of modal control modes according to the identification information, and displays the assembly module information required by the one control mode on the telemetering control module according to the selected control mode to assist an operator in installation and troubleshooting; the telemetry control module sends a control signal to the core module according to the selected one of the control modes and receives information (e.g., instructions) fed back by the core module.
In one embodiment of the invention, the core module executes the control signal generated by the telemetry control module after the assembly module required for the one control mode is mounted on the core module.
According to an embodiment of the present invention, the control signal generated by the telemetry control module is executed by the core module after a control mode is selected and the assembly modules required for the control mode are all mounted on the core module. On the one hand, the required assembly modules are ensured to be installed in the selected control mode, damage to the equipment during operation caused by incomplete installation of the assembly modules is prevented, and on the other hand, casualty caused by starting of the equipment due to mistaken touch during installation of the equipment is prevented.
In one embodiment of the present invention, the assembly module has an assembly interface cooperating with the expansion interface, the assembly interface cooperating with the expansion interface and adapted to detachably connect the assembly module with the core module.
According to the embodiment of the invention, the assembly module and the core module are detachably connected, so that flexible assembly of equipment is ensured, and transportation and carrying are facilitated.
In one embodiment of the invention, the plurality of modal control modes comprises a multi-rotor control mode; wherein the assembly modules required for the multi-rotor control mode include, but are not limited to: the rotor wing module is provided with a propeller power device, an electric regulator, a motor, an ID electronic tag and a connecting rod suitable for connecting the rotor wing module with the assembling interface, and one end of the connecting rod is suitable for being connected with the assembling interface; and the load cabin module is provided with a sensor cabin, a holder, an ID electronic tag and an assembly interface matched with the expansion interface.
According to the embodiment of the invention, in the multi-rotor control mode, the load cabin module is not a necessary module, and can be selectively installed according to the requirements of users, namely when the load cabin module is not loaded, the unmanned aerial vehicle can fly in the selected multi-rotor control mode, and the load cabin modules with different functions can be installed according to the requirements of the users, so that the unmanned aerial vehicle has different functions and can execute different tasks, and the load cabin module can be installed according to the requirements of the tasks, so that various data acquisition is realized.
In one embodiment of the invention, the plurality of modal control modes comprises an unmanned vehicle control mode; wherein the assembly modules required for the unmanned vehicle control mode include: at least two wheel modules and load cabin module, the wheel module has the wheel and installs on the wheel module the equipment interface, load cabin module have cloud platform mechanism and the equipment interface. According to an embodiment of the invention, in the unmanned vehicle control mode, the load compartment module is a non-essential module, i.e. the unmanned device can be started without loading the load compartment module. The load compartment modules are selectively installed as required by the user's mission.
In one embodiment of the invention, the plurality of modal control modes comprises an unmanned ship control mode; wherein the assembly modules required for the drone control mode include: the ship body module is suitable for floating on the water surface, and the assembling interface is arranged on the upper side of the ship body module; the driving module is arranged at the lower side of the ship body module and is immersed in water, and is used for driving the ship body module to move and turn; in addition, still including sensor module, the detachable installation is in the downside of hull module for data acquisition in the water, optional, also can set up in hull module upside, be used for surface of water environmental data acquisition and data communication. According to an embodiment of the invention, in the drone control mode, the sensor module is an unnecessary module, i.e. the drone can be started without installing the sensor module. The sensor module is selectively installed as required by the user's task. In one embodiment of the invention, the plurality of modal control modes comprises an unmanned submarine mode; wherein the assembly modules required for the unmanned submarine mode comprise: the submarine main body module is suitable for floating on the water surface or in a water body, and the assembling interface is arranged in the submarine main body module; and the underwater power module is arranged at the rear side of the submarine main body module and is used for driving the submarine main body module to move and turn. In addition, the submarine further comprises a sensor module which is detachably arranged on the submarine main body module and is used for data acquisition and data communication in the water body. According to the embodiment of the invention, in the unmanned submarine mode, the sensor module is an unnecessary module, namely, the unmanned equipment can be started without installing the sensor module. The sensor module is selectively installed as required by the user's task.
In one embodiment of the invention, the plurality of modal control modes comprises a fixed-wing control mode; wherein the assembly modules required for the fixed-wing control mode include: the fixed wing modules comprise wings for providing lift force for the assembly modules and the assembly interfaces arranged on the side edges of the wings in the length direction; a tail module including a fin for adjusting a flight attitude and a link adapted to connect with the assembly interface; optionally, the assembly module required for the fixed-wing control mode further comprises the load cell module mounted on the underside of the core module.
In an embodiment of the present invention, the assembly module required by the fixed-wing control mode further includes a fixed rotor power module fixedly installed at a lateral side position of the wing in the width direction, and the fixed rotor power module includes a propeller, an electric governor, a motor, and the assembly interface.
In one embodiment of the invention, the assembly module required for the fixed-wing control mode further comprises a tilt-rotor power module fixedly mounted on the wing and tiltable relative to the wing, and the tilt-rotor power module has a rotation plane that is at an angle of between 0 ° and 90 ° to the plane of the wing. According to the embodiment of the invention, the included angle can be set to adjust the flight mode of the equipment according to the use environment, so that the equipment can adapt to more complex flight environment. In addition, in the mode, the device can also realize functions of vertical take-off and landing, fixed-point hovering and the like, and the cruising ability and the flexibility of flight are both considered.
In one embodiment of the present invention, the assembly module further comprises: a positioning module adapted to position the core module when mounted thereto; a power module adapted to provide power to the other modules when mounted to the core module.
In an embodiment of the present invention, a power supply is disposed inside the core module, and is used for providing power for the operation of the core module.
In one embodiment of the invention, the core module detects the operating state of the assembly module when connected to the assembly module. For example, whether the function of the assembly module is normal or not is detected, whether the communication between the assembly module and the core module is normal or not is detected, whether the hardware of the assembly information is damaged or not is detected, and the like.
In one embodiment of the invention, the core module detects the device status of the first of the assembly modules before the one control mode is selected.
In one embodiment of the invention, after the selection of the one control mode, the core module checks the device status of other required assembly modules installed subsequently one by one until all modules are installed correctly and working properly.
According to an embodiment of the present invention, before the one control mode is selected, the device status of the first assembly module is detected to ensure the normal operation of the first assembly module, and after the one control mode is selected, when the required assembly module is mounted on the core module, the core module only performs detection, and does not perform the selected function of the control mode any more, that is, after the device status of the assembly module is automatically detected, the detection result is fed back to the telemetry control module to prompt the operator to perform the next operation, so that the operator can more specifically find and solve the problem, and the platform assembly is efficiently completed. The embodiment of the invention has the following beneficial effects:
the assembly module is connected with the core module through setting, the core module automatically selects one control mode of a plurality of modal control modes according to identification information (such as equipment ID) of the assembly module so as to realize control over the unmanned equipment, the applicability and the expandability of the unmanned equipment are improved, and multi-environment multi-region task execution is realized through different expansion modules.
Drawings
FIG. 1 is a flow diagram of a multi-modal control method in accordance with an embodiment of the present invention;
fig. 2(a) is a left side view of a core block of a multi-modal control apparatus according to an embodiment of the present invention;
fig. 2(b) is a plan view of a core module of the multi-modal control apparatus according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a core module and an assembly module of the multi-modal control device according to the embodiment of the invention in a multi-rotor control mode;
fig. 4 is a schematic structural diagram of a core module and an assembly module of the multi-mode control device according to the embodiment of the present invention in the unmanned vehicle control mode;
FIG. 5 is a schematic structural diagram of a core module and an assembly module of the multi-modal control apparatus according to an embodiment of the present invention in a fixed wing control mode;
FIG. 6 is a schematic structural diagram of a core module and an assembly module of a multi-modal control device according to another embodiment of the present invention in a fixed wing control mode;
FIG. 7 is a schematic illustration of the tiltrotor power module tilting in a fixed-wing control mode in the multi-mode control arrangement of FIG. 6;
fig. 8 is a schematic structural diagram of a fixed-wing module in a fixed-wing control mode of the multi-modal control apparatus according to the embodiment of the present invention;
fig. 9 is a schematic structural view of a tail module in the fixed-wing control mode of the multi-modal control apparatus according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, a multi-modal control method and apparatus for an unmanned aerial vehicle according to the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, but not all of them. All other embodiments that can be implemented by a person skilled in the art based on the embodiments of the present invention without departing from the spirit of the present invention belong to the protection scope of the present invention.
The multi-modal control device related to the invention mainly comprises but is not limited to: the core module has a data processing function, can process and analyze electric signals fed back by the assembly module and transmitted by the telemetry control module, the core module is provided with an expansion interface, the assembly module is provided with an assembly interface matched with the expansion interface and identification information (such as equipment ID) identified by the core module, and through the matching of the assembly interface and the expansion interface, the assembly module can be detachably assembled on the core module and can realize the control of different unmanned equipment. The assembly modules of the multi-modal control apparatus of the present invention include, but are not limited to: power module, orientation module, sensor nacelle module, fixed rotor power module, power module of verting rotor, wheel module, hull module, drive module, fixed wing module, fin module, landing gear module, parachute module, submarine main part module, data acquisition module (for example, visible light camera, hot infrared camera, multispectral camera, hyperspectral camera, laser radar, atmospheric particle sensor, sonar detector, warm and salt depth detector etc.) etc. in addition, other be equipped with the equipment interface, can cooperate with the extension interface of core module, and can by the module of core module discernment all belongs to the scope of equipment module. The telemetry control module has telemetry control capability and can be identified by the core module, for example, the telemetry control module can be a wireless remote controller with telemetry control function, and also can be a ground end provided with the telemetry module, such as a computer, a tablet and a mobile terminal (mobile phone, etc.), and the telemetry control module has signal sending function and can be identified by the core module, so as to realize the telemetry function.
In one embodiment of the present invention, the unmanned aerial vehicle is controlled by a multi-mode control method, and a plurality of mode control modes, such as a multi-rotor control mode, an unmanned vehicle control mode, a fixed wing control mode, an unmanned ship control mode, and an unmanned submarine control mode, are preset in the core module. When the first assembly module is connected with the core module, the core module identifies the identification information of the first assembly module (for example, the ID information of the assembly module or the electric signal fed back by the assembly module), selects one of the plurality of modal control modes according to the identification information of the assembly module, selects the control mode according to the identification information of the assembly module, and then the core module only detects the equipment state of the assembly module (for example, whether the interface of the assembly module is good, whether the communication between the assembly module and the core module is normal, whether the hardware function of the assembly module is intact, etc.), and displays other assembly modules necessary in the selected control mode through the telemetry control module under the selected control mode, reminds the user of the installation information of the assembly module required, and detects the subsequent assembly modules connected with the core module, and remind wrong installation or communication, the supplementary operating personnel assembles. In the selected control mode, when all necessary assembly modules are mounted on the core module, the core module sends a signal to the telemetry control module indicating that the mounting is completed, and executes a control signal of the telemetry control module. If the assembly module necessary for the selected control mode is not completely installed or a detection error exists, the core module does not execute the control signal of the telemetering control module and prompts the information of the uninstalled assembly module, so that the safety problem of the equipment is prevented.
The following detailed description is made with reference to the accompanying drawings.
Fig. 1 is a control flowchart of a multimodal control method according to an embodiment of the present invention. To be described in detail with reference to fig. 1, first, a core module S01 is required, the core module has an information processing function, and an assembly module S061 is inserted into the core module S01; after the core module S01 establishes connection with the assembly module S061, step S02 is executed: the core module acquires identification information of the assembly module (for example, device ID information of the assembly module and/or an electric signal fed back by the assembly module); after step S02, step S03 is performed: the core module detects whether the assembly module is correctly installed (e.g., whether an interface between the assembly module and the core module is correctly mated); after step S03, step S04 is performed: the core module detects the equipment state of the assembly module (for example, whether the function of the assembly module is normal or not, whether hardware is damaged or not and the like); if the above steps S02, S03, S04 are all normal, execute step S05: the core module selects one control mode corresponding to the identification information in the multiple modal control modes according to the acquired identification information of the assembly module, sends a command to the telemetry control module S07, displays the assembly module which can be installed in the next step under the selected control mode, reminds the user to execute the next step, and simultaneously sends display information to the telemetry control module S07 and executes the step S10: displaying an installation prompt; the user performs step S06 through the installation prompting message displayed by the telemetry control module S07: inserting different assembly modules into the core module (e.g., S062: insert assembly module 2, S063: insert assembly module 3, S064: insert assembly module 4); in the selected one of the control modes, immediately after the step S06 is executed, the step S08 is executed: detecting whether all the required assembly modules are correctly installed, and if all the assembly modules are correctly installed, executing the step S09: signal connection and a feedback loop are established among the core module, the assembly module and the telemetering control module, then the operation mode and the operation task of the assembled unmanned equipment are selected according to the environment where a user is located, the assembly module is controlled by the core module to start executing the task, and data acquisition work is carried out.
Fig. 2(a) and 2(b) are schematic structural views of a core module according to an exemplary embodiment of the present invention, fig. 2(a) is a left side view of the core module 1, and fig. 2(b) is a top view of the core module 1, in which an expansion interface 101 that mates with an assembly module (e.g., a fixed wing module, a rotor module, a landing gear module, etc.) is provided around the core module, and the assembly module, e.g., a sensor pod module 102, is selectively installed on the front side, the rear side, and the lower side of the core module 1. Optionally, a modular assembly, such as a parachute module 103, may also be installed on top of the core module 1 to facilitate opening of the parachute to protect the entire apparatus in the event of an emergency. In this embodiment, the assembly module is detachably connected to the core module 1, and after the assembly module is mounted on the core module, the assembly module and the core module are electrically connected to complete signal feedback, that is, the expansion interface is electrically connected to the assembly interface, and after the expansion interface and the assembly interface are mounted, the circuit is connected. In this embodiment, the expansion interface and the assembly interface include a hardware interface for physical connection between modules to achieve detachable connection between the assembly module and the core module, and a software interface is further provided between the core module and the assembly module.
Fig. 3 is a schematic illustration of yet another exemplary embodiment of the present invention. The multi-mode control device is a schematic diagram of the assembly of a core module and a rotor module of the multi-mode control device in a multi-rotor control mode. As shown in fig. 3, when a user cooperates rotor module 201 with expansion interface 101 through the assembly interface to assemble rotor module 201 to core module 1, core module 1 selects a multi-rotor mode according to identification information (e.g., device ID) of rotor module 201, and prompts the user to install the number of rotor modules and the assembly position in the multi-rotor mode, for example, 3 (as shown in fig. 3 (a)), 4 (as shown in fig. 3 (b) (c) (d)), 6 (as shown in fig. 3 (e)), or 8 (as shown in fig. 3 (f)), and the installation state and the assembly position are displayed on the telemetry control module for the user to refer to and control settings. Core module 1 and rotor modules 201 are essential modules in this embodiment, for example, when the user selects 4 rotor modules 201, the telemetry control module prompts the user to install the necessary assembly positions and installation details of 4 rotor modules 201, and when the user properly installs all 4 rotor modules 201 on core module 1, core module 1 and rotor modules 201 can be controlled by the telemetry control module (not shown). In addition, in the multi-rotor mode, the installation position of the rotor module 201 in the core module 1 is also identified by the core module, and the user is reminded of the installation positions of other rotor modules 201 according to the specific installation position and performs error checking, for example, when 4 rotor modules 201 are selected, the installation position of the rotor module 201 may be X-shaped (as shown in (b) in fig. 3), cross-shaped (as shown in (c) in fig. 3), or H-shaped (as shown in (d) in fig. 3). The user can choose different equipment modules for assembly according to different flight environments to improve the service performance of the equipment. Also, other additional assembly modules may be mounted on the core module, such as the sensor pod module 102, and the parachute module 103.
Fig. 4 is a schematic diagram of another exemplary embodiment of the present invention. The assembly method is a schematic diagram of the assembly of a core module and a wheel module of the multi-mode control device in the unmanned vehicle control mode. As shown in fig. 4, the core module 1 ' is mounted with wheel modules (roller wheels (301 as shown in fig. 4 (a) and (b)), crawler wheels (303 as shown in fig. 4 (c) and (d)) and an assembly interface 302 for assembling the wheel modules with the core module 1 ', and the core module 1 ' is mounted with a data acquisition module 104 for acquiring environmental data. By adopting the unmanned vehicle control mode, the adaptability of the unmanned control equipment to the complex terrain environment can be improved.
Fig. 5 is a schematic illustration of yet another exemplary embodiment of the present invention. The multi-mode control device is a schematic diagram of the assembly of a core module, a fixed wing module, an empennage module and a fixed rotor power module of the multi-mode control device in a fixed wing control mode. As shown in fig. 5, the fixed wing modules 401 are respectively assembled on the left and right sides of the core module 1, and the extension interfaces 101 are engaged with the assembly interfaces 405 on the fixed wing modules 401, thereby assembling and fixing the fixed wing modules 401. A tail module 403 is assembled at the rear side of the core module 1, and the tail module 403 is detachably connected with the core module 1 through a connecting rod 404. Fixed rotor power modules 402 are also mounted on the width-wise sides of the wings of fixed-wing modules 403, and fixed rotor power modules 402 are fixedly mounted on the wings.
Fig. 6 and 7 are schematic structural views of a core module and an assembly module of a multi-mode control device according to another embodiment of the present invention in a further fixed-wing control mode, in this embodiment, a tilt-rotor power module 402 'is tiltable relative to a wing, the tilt-rotor power module 402' is fixedly mounted on the wing, the tilt of a propeller of the tilt-rotor power module 402 'is controllable by the core module 103, and a rotation plane of the propeller of the tilt-rotor power module 402' has an angle with a plane of the wing, the angle being in a range of 0 ° to 90 ° (as shown in (a) of fig. 7). The propellers of the tiltrotor power modules 402 ' tilt to adjust the power direction, and in this fixed-wing mode, the rotation plane of the propellers of the tiltrotor power modules 402 ' and the plane included angle of the wings are 0 ° during vertical take-off and landing, and at this time, the tiltrotor power modules 402 ' provide the rising power (as shown by the dotted line portion of (b) in fig. 7), and the unmanned control device can realize the functions of vertical take-off and landing and vertex hovering. During navigation, the propellers of the tilt rotor power modules 402 ' tilt, so that the included angle between the rotating plane of the propellers and the plane of the wings is 90 degrees, at the moment, the tilt rotor power modules 402 ' provide horizontal power (as shown by the tilt rotor power modules 402 ' on the solid line part in fig. 7 (b)), and the navigation way can greatly improve the range of the unmanned aerial vehicle.
Fig. 8 is a schematic structural view of fixed-wing modules of different shapes in a fixed-wing control mode in the multi-modal control apparatus according to the embodiment of the present invention; as shown in fig. 8 (a), the wings of the fixed-wing modules are rectangular, as shown in fig. 8 (b), the wings of the fixed-wing modules are parabolic, as shown in fig. 8 (c), the wings of the fixed-wing modules are trapezoidal, and by arranging the fixed-wing modules in different shapes, flexible adjustment of different flight environments is realized, and adaptability to complex environments is improved.
Fig. 9 is a schematic structural view of differently shaped tail modules of the multi-modal control apparatus according to an embodiment of the present invention in a fixed-wing control mode; as shown in fig. 9 (a) and (b), the front view (a) and the plan view (b) of the T-shaped flight, the front view (c) and the plan view (d) of the V-shaped flight, and the front view (e) and the plan view (f) of the H-shaped flight are shown in fig. 9 (e) and (f). According to the shape of the empennage module, the adaptability of the unmanned control device to the environment can be flexibly adjusted, and unnecessary equipment loss is reduced.
In another embodiment of the present invention, the control mode of the core module is an unmanned ship control mode (not shown), in which case, the hull module is assembled with the core module, and the driving module is assembled at the lower side of the hull module to provide power for the ship to sail, and the core module and the driving module are controlled by the telemetry control module during sailing. In addition, the sensor module is installed at the bottom of the ship or on the ship according to the use requirements of users, and the sensor module installed at the bottom of the ship is mainly used for water body information acquisition, water body target detection, communication, water bottom terrain acquisition and the like; the shipboard sensor module is mainly used for water surface information acquisition, water surface target detection and communication.
In another embodiment of the present invention, the control mode of the core module is an unmanned submarine control mode, and in this case, the assembly modules required in this mode include: the submarine main body module is suitable for floating on the water surface or in a water body, and the assembling interface is arranged in the submarine main body module; and the underwater power module is arranged at the rear side of the submarine main body module and is used for driving the submarine main body module to move and turn. During assembly, the core module is arranged inside the submarine main body module, so that the submarine main body module is controlled, and the tasks of monitoring underwater environment and collecting information are completed.
The foregoing detailed description of the embodiments of the present invention has been presented for purposes of illustration and description, but is not intended to be construed to limit the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, and these variations and modifications are within the protective scope of the present invention. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (17)
1. A multi-modal control method for an unmanned device, the method comprising:
acquiring identification information of a first assembly module connected with the core module through the core module;
the core module selects one control mode of a plurality of modal control modes according to the acquired identification information, and displays the required assembly module in the selected control mode;
the core module detects the equipment state of the assembly module in the selected one control mode;
after the required assembly modules are installed in the core module, control signals are sent to the core module through a telemetry control module, and the core module controls the assembly modules to execute the control signals.
2. The multi-modal control method of claim 1 wherein installation information of the assembly module and the core module is displayed by the telemetry control module.
3. The multi-modal control method of claim 1, wherein the identification information comprises: device ID information of an assembly module and/or electrical signals fed back by the assembly module.
4. The multi-modality control method of claim 1, further comprising collecting, by the assembly module, control parameters of the drone.
5. A multi-modal control apparatus for an unmanned device, comprising a core module, an assembly module electrically connected to the core module, and a telemetry control module wirelessly connected to the core module;
the core module is used for receiving and processing the electric signals fed back by the assembly module and transmitted by the telemetry control module, the core module is provided with an expansion interface matched with the assembly module, and a plurality of modal control modes are preset in the core module;
the assembly module is provided with identification information which is identified by the core module and corresponds to the plurality of modal control modes, and the assembly module is used for executing the instruction generated by the core module and feeding back the instruction;
after the first assembly module is matched and connected with the core module, the core module selects one control mode of the plurality of modal control modes according to the identification information, and displays the information of the assembly module required by the one control mode on the telemetry control module according to the selected control mode;
the telemetry control module sends a control signal to the core module according to the selected control mode and receives a command fed back by the core module;
after the assembly module required for the one control mode is mounted on the core module, the core module executes the control signal generated by the telemetry control module.
6. The multi-modality control of claim 5, wherein the assembly module has an assembly interface that mates with the expansion interface, the assembly interface mating with the expansion interface adapted to removably connect the assembly module with the core module.
7. The multi-modality control apparatus of claim 6, wherein the plurality of modality control modes includes a multi-rotor control mode; wherein the assembly modules required for the multi-rotor control mode include:
at least 3 rotor modules, be equipped with propeller power device on the rotor module and be suitable for with the rotor module with assemble interface connection's connecting rod.
8. The multi-modal control device of claim 6 wherein the plurality of modal control modes comprises an unmanned vehicle control mode; wherein the assembly modules required for the unmanned vehicle control mode include:
at least two wheel modules having wheels and the assembly interface.
9. The multi-modal control apparatus of claim 6 wherein the plurality of modal control modes comprises an unmanned ship control mode; wherein the assembly modules required for the drone control mode include:
the ship body module is suitable for floating on the water surface, and the assembling interface is arranged on the upper side of the ship body module;
and the driving module is arranged at the lower side of the ship body module and is immersed in the water, and is used for driving the ship body module to move and turn.
10. The multi-modality control of claim 6, wherein the plurality of modality control modes includes an unmanned submarine mode; wherein the assembly modules required for the unmanned submarine mode comprise:
the submarine main body module is suitable for floating on the water surface or in a water body, and the assembling interface is arranged in the submarine main body module;
and the underwater power module is arranged at the rear side of the submarine main body module and is used for driving the submarine main body module to move and turn.
11. The multi-modality control of claim 6, wherein the plurality of modality control modes includes a fixed-wing control mode; wherein the assembly modules required for the fixed-wing control mode include:
the fixed wing modules comprise wings for providing lift force for the assembly modules and the assembly interfaces arranged on the side edges of the wings in the length direction;
a tail module including a tab for adjusting a pose and a link adapted to connect with the assembly interface.
12. The multi-modality control apparatus of claim 11, wherein the assembly modules required for the fixed-wing control mode further include fixed rotor power modules fixedly mounted at widthwise lateral positions of the wing.
13. The multi-modality control of claim 11, wherein the assembly modules required for the fixed-wing control mode further include a tiltrotor power module fixedly mounted on the wing and tiltable relative to the wing, and wherein the tilt-rotor power module has a plane of rotation that is at an angle of between 0 ° and 90 ° to the plane of the wing.
14. The multi-modality control of claim 6, wherein the core module detects a device status of the assembly module when connected with the assembly module.
15. The multi-modality control of claim 14, wherein the core module detects the equipment status of a first one of the assembly modules prior to selection of the one control mode.
16. The multi-modality control of claim 14, wherein the core module, after selection of the one control mode, checks the equipment status of other required assembly modules installed subsequently one by one until all assembly modules are properly installed and functioning properly.
17. The multi-modality control device of claim 5, wherein the assembly module further comprises:
a positioning module adapted to position the core module when mounted thereto;
a power module adapted to provide power to the core module when mounted thereto.
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