阅读说明：本技术 陆空两栖设备及其模式切换系统、方法 (Air-ground amphibious equipment and mode switching system and method thereof ) 是由 樊伟 朱桦 甄鹏飞 刘春桃 于 2021-09-27 设计创作，主要内容包括：本发明公开了一种陆空两栖设备及其模式切换系统、方法,涉及两栖设备及其控制方法技术领域,系统包括初始化及参数更新模块、控制类型检测模块、执行器输出设置模块；设备包括该系统、遥控器和设备主体；方法包括6个步骤。设备中的系统配套遥控器使用,支持遥控器的模式切换拨杆操作,实现设备主体的模式切换功能,使得一个遥控器就能够同时适用于两种模式状态,减少遥控器使用的不便。除此之外,系统增加了模式切换条件,遥控器指令在满足模式切换条件的情况下才会执行行驶模式切换至飞行模式的模式切换指令,否则拒绝执行模式切换指令,相对减少设备主体的控制混乱及损坏。方法基于设备,具有同于设备的有益效果。(The invention discloses an air-ground amphibious device and a mode switching system and method thereof, relating to the technical field of amphibious devices and control methods thereof, wherein the system comprises an initialization and parameter updating module, a control type detection module and an actuator output setting module; the device comprises the system, a remote controller and a device body; the method comprises 6 steps. The system in the equipment is matched with the remote controller for use, supports the mode switching deflector rod operation of the remote controller, and realizes the mode switching function of the equipment main body, so that one remote controller can be simultaneously suitable for two mode states, and the inconvenience in use of the remote controller is reduced. In addition, the system is additionally provided with a mode switching condition, the remote controller can execute the mode switching instruction for switching the driving mode to the flight mode under the condition that the command meets the mode switching condition, otherwise, the mode switching instruction is refused to be executed, and the control confusion and damage of the equipment main body are relatively reduced. The method is based on equipment and has the same beneficial effects as the equipment.)

1. A mode switching system of air-ground amphibious equipment is communicated with a remote controller and is characterized by comprising an actuator output setting module for receiving a command of the remote controller, wherein a mode switching condition is preset in the actuator output setting module, and the mode switching command is executed only under the condition that the command of the remote controller meets the mode switching condition.

2. The air-ground amphibious device mode switching system of claim 1, further comprising an initialization and parameter update module that establishes communication with a remote control.

3. The air-ground amphibious device mode switching system of claim 2, further comprising a control type detection module in communication with the initialization and parameter update module.

4. The air-ground amphibious device mode switching system according to claim 3, wherein the actuator output setting module, the initialization and parameter updating module and the actuator output setting module all perform information interaction through an information pool.

5. An air-ground amphibious device, characterized by comprising the air-ground amphibious device mode switching system and the remote controller as claimed in any one of claims 1-4, and a device body controlled by the air-ground amphibious device mode switching system and the remote controller in a matched mode.

6. The mode switching method of the air-ground amphibious device as claimed in claim 5, wherein the device body is switched between a driving mode and a flying mode, and the method comprises the following steps:

s01, the initialization and parameter updating module reads the remote controller updating instruction;

and S02, the actuator output setting module executes the mode switching instruction only when the read remote controller updating instruction meets the mode switching condition.

7. The air-ground amphibious device mode switching method according to claim 6, wherein the mode switching condition in step S02 is determined by both a control type detection module and an actuator output setting module.

8. The method for switching modes of air-ground amphibious equipment as claimed in claim 6 or 7, wherein step S01 specifically comprises: the initialization and parameter updating module reads the remote controller instruction in real time and judges whether the remote controller instruction is updated or not, the remote controller instruction is refused to be executed under the condition that the remote controller instruction is frequently updated, and the remote controller instruction updating information is sent to the control type detection module under the condition that the remote controller instruction is infrequently updated.

9. The method for switching between modes of air-ground amphibious equipment as claimed in claim 8, further comprising, after step S01, the steps of: the control type detection module receives remote controller instruction updating information sent by the initialization and parameter updating module, determines whether the remote controller instruction is normally executed according to different remote controller instruction updating information, and judges the first group of judgment information.

10. The method for switching modes of air-ground amphibious equipment according to claim 9, wherein step S02 specifically comprises: the actuator output setting module judges the second group of judgment information, receives the judgment result of the control type detection module on the first group of judgment information, judges different judgment results according to the first group of judgment information and the second group of judgment information, and executes different operations.

Technical Field

The invention relates to the technical field of amphibious equipment and a control method thereof, in particular to air-ground amphibious equipment and a mode switching system and method thereof.

Background

With the continuous development of automation control technology, various types and functions of automatic robots emerge endlessly, wherein air-ground amphibious robots composed of small multi-rotor unmanned aerial vehicles and ground unmanned vehicles gradually become academic and industrial research hotspots, the robots have the performance characteristics of unmanned aerial vehicles and unmanned vehicles, can realize the functions of flying energy running through structural design, fusion control, task planning and the like, and have wide development and application prospects. Manual control of such air-ground amphibious equipment is typically achieved through an aerial model remote control.

The existing model airplane remote controller is generally provided with two sliding rods and a plurality of shifting rods, and the sliding rods or the shifting rods are used as different channels for sending signals, so that the sliding rods or the shifting rods can control the defined functions by defining the functions of the different channels when in use. The control process is that the receiver matched with the code of the remote controller is connected to the control mainboard, the operator dials the slide bar or the dial rod to a certain position to change the control quantity corresponding to the channel, the receiver provides the change value of the control signal to the connected mainboard, the control signal is processed by the control program in the mainboard, and the downstream executor is output with specific identification signal to realize the control from the remote controller to the executor.

Most of existing remote controllers for the model airplane only support one equipment mode when realizing the control function, and cannot simultaneously support the flight mode and the driving mode of amphibious equipment, so that the remote controllers are very inconvenient to use and switch; mode switching can be realized by a few model airplane remote controllers, the flight mode and the driving mode of the amphibious equipment are simultaneously supported, however, switching conditions are not set, so that the mode can be switched to another mode at will in any mode, and control confusion and damage of the amphibious equipment are easily caused.

Disclosure of Invention

The invention aims to: aiming at the existing problems, the air-ground amphibious equipment, the mode switching system and the mode switching method thereof support the mode switching of the remote controller and set the switching conditions.

The technical scheme adopted by the invention is as follows:

a mode switching system of air-ground amphibious equipment is communicated with a remote controller and comprises an actuator output setting module for receiving a remote controller instruction, a mode switching condition is preset in the actuator output setting module, and the mode switching instruction is executed only under the condition that the remote controller instruction meets the mode switching condition.

Preferably, the mode switching system of the air-ground amphibious equipment further comprises an initialization and parameter updating module for establishing communication with the remote controller.

Preferably, the mode switching system of the air-ground amphibious equipment further comprises a control type detection module which is communicated with the initialization and parameter updating module.

Preferably, the actuator output setting module, the initialization and parameter updating module and the actuator output setting module perform information interaction through an information pool.

An air-ground amphibious device comprises an air-ground amphibious device mode switching system, a remote controller and a device main body controlled by the air-ground amphibious device mode switching system and the remote controller in a matched mode.

The mode switching method of the air-ground amphibious equipment is used for switching the running mode and the flight mode of the equipment main body, and comprises the following steps:

s01, the initialization and parameter updating module reads the remote controller updating instruction;

and S02, the actuator output setting module executes the mode switching instruction only when the read remote controller updating instruction meets the mode switching condition.

Preferably, the mode switching condition in step S02 is determined by both the control type detection module and the actuator output setting module.

Preferably, the step S01 specifically includes: the initialization and parameter updating module reads the remote controller instruction in real time and judges whether the remote controller instruction is updated or not, the remote controller instruction is refused to be executed under the condition that the remote controller instruction is frequently updated, and the remote controller instruction updating information is sent to the control type detection module under the condition that the remote controller instruction is infrequently updated.

Preferably, after the step S01, the method further includes the steps of: the control type detection module receives remote controller instruction updating information sent by the initialization and parameter updating module, determines whether the remote controller instruction is normally executed according to different remote controller instruction updating information, and judges the first group of judgment information.

Preferably, the step S02 specifically includes: the actuator output setting module judges the second group of judgment information, receives the judgment result of the control type detection module on the first group of judgment information, judges different judgment results according to the first group of judgment information and the second group of judgment information, and executes different operations.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: the system in the equipment is matched with the remote controller for use, supports the mode switching deflector rod operation of the remote controller, and realizes the mode switching function of the equipment main body, so that one remote controller can be simultaneously suitable for two mode states, and the inconvenience in use of the remote controller is reduced. In addition, the system is additionally provided with a mode switching condition, the remote controller can execute the mode switching instruction for switching the driving mode to the flight mode under the condition that the command meets the mode switching condition, otherwise, the mode switching instruction is refused to be executed, and the control confusion and damage of the equipment main body are relatively reduced. The method is based on equipment and has the same beneficial effects as the equipment.

Drawings

Fig. 1 is a structural block diagram of a land-air amphibious equipment mode switching system.

Fig. 2 is a relational diagram of modules in the air-ground amphibious equipment mode switching system.

FIG. 3 is a logic diagram of an initialization and parameter update module.

FIG. 4 is a logic diagram of a control type detection module.

FIG. 5 is a logic diagram of an actuator output setting module.

Fig. 6 is a flowchart of a mode switching method of the air-ground amphibious device.

The labels in the figure are: the device comprises an initialization and parameter updating module-1, a control type detection module-2, an actuator output setting module-3 and an information pool-4.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 and 2, a land-air amphibious equipment mode switching system establishes communication with a remote controller, and includes an initialization and parameter updating module 1, a control type detection module 2, and an actuator output setting module 3; the main program automatically operates the three modules after reading the input signal of the remote controller, the three modules perform information interaction through a uORB information publishing and subscribing mode, namely information interaction is performed through the information pool 4, all generated information is published to the information pool 4 by the three modules, and the required information is subscribed from the information pool 4; the command update information of the remote controller is also issued to the information pool 4 for the corresponding module to subscribe. The information pool 4 is a uORB information pool. And outputting an instruction to the controller after layer-by-layer data updating, mode judgment and type detection.

Referring to fig. 2 to 5, an air-ground amphibious device includes a mode switching system of the air-ground amphibious device, a remote controller, and a device body controlled by the two in a matching manner, wherein an actuator controller for receiving a signal and operating the device body is arranged in the device body; the remote controller is provided with a mode switching lock, a mode switching deflector rod and an accelerator; the equipment main part includes travel mode and flight mode, and it all is provided with automatic mode and manual mode under travel mode and flight mode, and the remote controller still is provided with the self-hand switch key of switching automatic mode and manual mode. The main functions of the land-air amphibious equipment mode switching system are that a user can toggle a remote controller deflector rod to realize the switching control of the running mode and the flight mode of an equipment main body, the two modes are developed in parallel, the functions of the modes are clear and independent, and can be switched mutually, and the information interaction of different modes is realized through the information interaction mechanism of the uORB under the original flight controller system in the equipment main body, namely, the information interaction is carried out through the information pool 4.

The initialization and parameter updating module 1 is mainly responsible for the earlier stage work of the whole program operation, continuously reads the input instruction of the remote controller and identifies whether the instruction is updated, and acquires the default parameters of the system and executes the default operation of the system, including clearing and releasing the memory space, reading the default parameters of the system, reading the current time and limiting the over-scheduling of the main function; the mode for limiting the over-scheduling of the main function is as follows: and refusing to issue the command updating information of the remote controller to the information pool 4 under the condition that the command of the remote controller is frequently updated, so as to prevent misoperation of the remote controller. After the initialization operation is completed, the initialization and parameter updating module 1 packages the identified instruction updating information of the remote controller and the current time information as updating information and issues the updating information to the information pool 4 for the next module to use.

The control type detection module 2 issues the update information in the information pool 4 through the subscription initialization and parameter update module 1, and sets the throttle middle position after the instruction of the remote controller is updated, so as to be used as a safety mechanism. And judging whether the equipment main body is in a flight mode or not according to the mode switching deflector rod, and judging whether the mode switching deflector rod is subjected to mode switching or not in real time. If the mode switching occurs, after the mode switching occurs to each mode switching deflector rod, resetting the mode parameters before the corresponding mode switching, namely the driving mode parameters or the flight mode parameters, and issuing the mode parameters to the information pool 4; if the mode switching does not occur, the control type detection module 2 normally executes the instruction of updating the information of the remote controller.

After receiving the operation instruction sent by the control type detection module 2, the actuator output setting module 3 updates and subscribes a series of related information in the information pool 4, and clears all actuator outputs. The actuator output setting module 3 judges whether the mode switching lock is in an unlocked state, judges whether the device body is in a flight mode through previous subscription information under the condition that the mode switching lock is not unlocked, sets a virtual attitude set value in the flight mode as a real attitude set value if the device body is in the flight mode, transmits the real attitude set value to the actuator controller, and packages and releases the real attitude set value to the information pool 4; if the accelerator is in the driving mode, judging whether mode switching occurs or not through the previous subscription information, if so, judging whether the accelerator is in a middle position or not, if so, judging whether the accelerator is in a manual mode or an automatic mode, if so, normalizing the received accelerator signal, transmitting the command updating information of the remote controller to the actuator controller, and packaging and releasing related information to the information pool 4; if the vehicle is in a driving mode and mode switching does not occur, transmitting the instruction updating information of the current remote controller to an actuator controller, and then packaging and issuing the instruction updating information to an information pool 4; if the system is in a running mode, mode switching occurs, and the throttle is not in the middle position, the system refuses to execute a mode switching instruction based on a safety protection mechanism, and returns to a flight mode before switching; if the accelerator is in the running mode, the mode switching is carried out, and the accelerator is in a middle position and is not in a non-manual mode or an automatic mode, the accelerator signal does not need to be processed, the instruction updating information of the remote controller is directly transmitted to the actuator controller, and the information is packed and issued to the information pool 4; and when the accelerator is unlocked, directly issuing information to the information pool 4.

The instruction execution operation of the actuator output setting module 3 is simplified as follows: after receiving an operation instruction sent by the control type detection module 2, the actuator output setting module 3 updates and subscribes a series of related information in the information pool 4, and after zero clearing is performed on all actuator outputs, the actuator output setting module 3 executes the instruction for six conditions:

1. the mode switching lock is not unlocked and is currently in a flight mode, at the moment, the virtual attitude set value in the flight mode is set as a real attitude set value, the real attitude set value is transmitted to the actuator controller, and then the real attitude set value is packaged and issued to the information pool 4;

2. the mode switching lock is not unlocked, the accelerator is in a driving mode at present and is switched between modes, the accelerator is in a middle position and is in a manual mode or an automatic mode, the accelerator signal is normalized, the command updating information of the remote controller is transmitted to the actuator controller, and the information is packed and issued to the information pool 4;

3. the mode switching lock is not unlocked, is currently in a running mode, and is not switched, and at the moment, the command updating information of the remote controller is transmitted to the actuator controller, and the command updating information is packaged and issued to the information pool 4;

4. the mode switching lock is not unlocked, the vehicle is in a driving mode at present, mode switching occurs, the accelerator is not in the middle position, the system refuses to execute the mode switching instruction, and the vehicle returns to the flight mode;

5. the mode switching lock is not unlocked, the vehicle is currently in a driving mode, mode switching occurs, the accelerator is in a middle position and is not in a manual mode or an automatic mode, an accelerator signal does not need to be processed, command updating information of the remote controller is directly transmitted to the actuator controller at the moment, and the information is packed and issued to the information pool 4;

6. the mode switch lock is unlocked and the message is directly issued to the message pool 4.

The land-air equipment main body mode switching system is based on secondary development of PX4 firmware, and the functions of the remote controller are expanded, so that the remote controller realizes the control function and simultaneously supports two modes of a flight mode and a driving mode. The mode switching control of the land-air equipment main body is realized by utilizing a definable mode switching deflector rod on the remote controller to transmit a remote controller switching instruction and adding and changing a bottom system of the equipment main body controller. Specifically, by defining a definable channel of the mode switching deflector rod on the remote controller, two different control signal values of the channel at different positions of the mode switching deflector rod are provided for a bottom layer system, and then the mode switching function of the equipment main body can be realized.

Referring to fig. 6, the mode switching method for the air-ground amphibious device switches the driving mode and the flight mode of the device body, and includes the following steps:

s01: the initialization and parameter updating module 1 continuously reads the input instruction of the remote controller and identifies whether the instruction is updated;

s02: the initialization and parameter updating module 1 acquires system default parameters and executes system default operations, including clearing and releasing memory space, reading system default parameters, reading current time and limiting over-scheduling of a main function; the mode for limiting the over-scheduling of the main function is as follows: and refusing to issue the command updating information of the remote controller to the information pool 4 under the condition that the command of the remote controller is frequently updated, so as to prevent misoperation of the remote controller. After the initialization operation is completed, the initialization and parameter updating module 1 packages the identified instruction updating information of the remote controller and the current time information as updating information and issues the updating information to the information pool 4 for the next module to use;

s03: the control type detection module 2 issues update information in the information pool 4 through the subscription initialization and parameter update module 1, and sets an accelerator middle position as a safety mechanism after the instruction of the remote controller is updated;

s04: the control type detection module 2 judges whether the equipment main body is in a flight mode according to the mode switching deflector rod, and judges whether the mode switching deflector rod is subjected to mode switching in real time. If the mode switching occurs, resetting the mode parameters before the corresponding switching mode, namely the driving mode parameters or the flight mode parameters, after the mode switching occurs to each mode switching deflector rod; if the mode switching does not occur, controlling the type detection module 2 to normally execute the instruction for updating the information;

s05: after receiving an operation instruction sent by the control type detection module 2, the actuator output setting module 3 updates and subscribes a series of related information in the information pool 4, and clears the output of all the actuators;

s06: the actuator output setting module 3 judges whether the mode switching lock is in an unlocked state, judges whether the device body is in a flight mode through previous subscription information under the condition that the mode switching lock is not unlocked, sets a virtual attitude set value in the flight mode as a real attitude set value if the device body is in the flight mode, transmits the real attitude set value to the actuator controller, and packages and releases the real attitude set value to the information pool 4; if the accelerator is in the driving mode, judging whether mode switching occurs or not through the previous subscription information, if so, judging whether the accelerator is in a middle position or not, if so, judging whether the accelerator is in a manual mode or an automatic mode, if so, normalizing the received accelerator signal, transmitting instruction updating information of a remote controller to an actuator controller, and packaging and releasing related information to an information pool 4; if the vehicle is in a driving mode and mode switching does not occur, transmitting the instruction updating information of the current remote controller to an actuator controller, and then packaging and issuing the instruction updating information to an information pool 4; if the system is in a running mode, mode switching occurs, and the throttle is not in the middle position, the system refuses to execute a mode switching instruction based on a safety protection mechanism, and returns to a flight mode before switching; if the accelerator is in the running mode, the mode switching is carried out, and the accelerator is in a middle position and is not in a non-manual mode or an automatic mode, the accelerator signal does not need to be processed, the instruction updating information of the remote controller is directly transmitted to the actuator controller, and the information is packed and issued to the information pool 4; and when the accelerator is unlocked, directly issuing information to the information pool 4.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to aid in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.