WO2021022727A1

WO2021022727A1 - Air-ground amphibious unmanned driving platform

Info

Publication number: WO2021022727A1
Application number: PCT/CN2019/121703
Authority: WO
Inventors: 张新钰; 李骏; 谭启凡; 朱鹏飞; 周沫; 黄毅
Original assignee: 清华大学
Priority date: 2019-08-07
Filing date: 2019-11-28
Publication date: 2021-02-11
Also published as: CN110488863A

Abstract

Provided is an air-ground amphibious unmanned driving platform, comprising a vehicle body, a flight mechanism, a driving mechanism, a computing platform arranged in the vehicle body, a power supply system, a position and attitude acquisition system, an environmental perception system, a flight control system, and a chassis control system arranged in the driving mechanism. The position and attitude acquisition system, the environmental perception system, the chassis control system and the flight control system are in communication connection with the computing platform, respectively. The flight mechanism is arranged above the vehicle body. The driving mechanism is arranged below the vehicle body. The power supply system is used for providing a vehicle with power and endurance. The chassis control system is used for controlling the driving mechanism to realize driving of the vehicle on a road surface. The flight control system is used for controlling the flight mechanism to realize flying of the vehicle. The position and attitude acquisition system is used for acquiring attitude information and position information of the vehicle. The environmental perception system is used for acquiring environmental information around the vehicle. The computing platform is used for processing sensor information and completing unmanned driving decision-making and planning.

Description

Land and air amphibious unmanned platform

Technical field

The invention relates to the technical field of unmanned vehicles, in particular to a land-air amphibious unmanned driving platform.

Background technique

Land and air amphibious vehicles are a new type of intelligent transportation that can realize ground travel and air flight. The vehicle uses a traditional four-wheel and two-wheel drive chassis as the basic structure for ground travel, and on this basis uses the rotor to achieve high-degree-of-freedom flight movements. The current autonomous navigation of land and air amphibious vehicles is poor, and most of them need to remotely control the trajectory of the vehicle and conduct navigation, making it difficult to conduct research on the trajectory planning of land and air amphibious unmanned vehicles and spatial autonomous navigation decision-making.

Summary of the invention

In view of the shortcomings of the prior art, the purpose of the present invention is to provide a land-air amphibious unmanned driving platform, which is equipped with an environment perception system, a pose acquisition system, and a computing platform to plan and space the movement trajectory of land-air amphibious vehicles. The research of autonomous navigation decision provides hardware test conditions.

In order to achieve the above objectives, the present invention provides a land-air amphibious unmanned driving platform, which includes a vehicle body, a flying mechanism, a driving mechanism, a computing platform, a power supply system, a pose acquisition system, an environment perception system, a chassis control system, and a flight Control System. The flying mechanism is arranged above the car body to realize the flight of the vehicle; the driving mechanism is arranged below the car body to realize the road driving of the vehicle; the computing platform and power supply system are arranged on the car body; the pose acquisition system and environment perception The system communication is connected to the computing platform; the chassis control system is connected to the driving mechanism and the computing platform; the flight control system is connected to the flight mechanism and the computing platform; the power system is used to provide power and endurance for the vehicle, and the chassis control system is used to control the driving mechanism Realize the road driving of the vehicle, the flight control system is used to control the flight mechanism to realize the flight of the vehicle, the pose acquisition system is used to obtain the attitude information and position information of the vehicle, the environmental perception system is used to obtain the environmental information around the vehicle, and the computing platform is used to Process the posture information and position information of the vehicle and the environmental information around the vehicle, and complete the vehicle's spatial motion decision and trajectory planning.

In one embodiment, the flight control system is arranged on the top of the vehicle body.

In one embodiment, the environmental perception system includes lidar, millimeter-wave radar, and vision sensors. Millimeter-wave radar is used to collect the relative position information between the vehicle body and the ground during the flight of the vehicle, and the lidar and vision sensors are used to obtain information in front of the vehicle. Target information and traffic information.

In one embodiment, the laser radar, millimeter wave radar and vision sensor are respectively arranged on the front of the vehicle body.

In an embodiment, the pose acquisition system includes an inertial navigation module and a GPS positioning module. The inertial navigation module is used to provide attitude information of the vehicle, and the GPS positioning module is used to provide location information of the vehicle.

In one embodiment, the inertial navigation module is installed in the vehicle body; the GPS positioning module includes a GPS locator and a GPS positioning signal receiver. The GPS locator is installed in the vehicle body, and the GPS positioning signal receiver is installed on the top of the vehicle body. The device is used to obtain the positioning signal of the vehicle position received from the GPS positioning signal receiver.

In one embodiment, the flying mechanism includes a rotor arm and a rotor structure; the rotor arms are arranged at intervals along the circumference of the vehicle body, the rotor arms have fixed ends, the fixed ends of the rotor arms are connected to the top of the vehicle body, and the rotor structures are arranged on the rotor arms on.

In one embodiment, the rotor structure includes a rotor, a rotor motor, and an electronic governor. The electronic governor is installed on the rotor arm, the rotor motor is connected to the electronic governor, and the rotor is installed on the rotor motor.

In an embodiment, the driving mechanism includes a chassis, a steering structure, a driving structure, a connecting frame, a steering wheel, and a driving wheel; the steering wheel and the driving wheel are connected to both ends of the chassis; the steering structure is connected to the steering wheel, and the driving structure is connected to the driving wheel Connection; the connecting frame connects the chassis and the car body.

In one embodiment, the chassis control system is provided on the vehicle body or the driving mechanism.

The beneficial effects of the present invention are as follows:

In the land-air amphibious unmanned platform of the present invention, the posture acquisition system provides posture information and position information of the computing platform vehicle, and the environment perception system provides the computing platform vehicle surrounding environment information. The computing platform can process this information, make autonomous navigation decisions for vehicles, and plan spatial motion trajectories to generate control commands. The computing platform sends control instructions to the chassis control system and the flight control system, and the chassis control system controls the driving mechanism to enable the vehicle to travel on the road, and the flight control system controls the flight mechanism to enable the vehicle to fly, realizing the functions of autonomous driving and navigation in the vehicle space Therefore, the land-air amphibious unmanned driving platform of the present invention can provide hardware test conditions for the research of space perception, motion trajectory planning and autonomous navigation decision-making of land-air amphibious vehicles.

Description of the drawings

Figure 1 is a structural block diagram of the land-air amphibious unmanned platform of the present invention.

Figure 2 is a perspective view of the land-air amphibious unmanned platform of the present invention.

Fig. 3 is another perspective view of the land-air amphibious unmanned platform of the present invention.

Fig. 4 is an exploded perspective view of the land-air amphibious unmanned platform of the present invention.

Fig. 5 is a partially exploded perspective view of the land-air amphibious unmanned platform of the present invention.

Wherein, the reference signs are explained as follows:

1 car body 35 steering wheels

11 on the platform 36 driving wheels

12 Former platform 4 Computing platform

13 Separator 5 Power system

14 bracket 6 pose acquisition system

2 Flight agencies 61 inertial navigation module

21 Rotary wing arm 62 GPS positioning module

21a fixed end 621GPS locator

21b free end 622 GPS positioning signal receiver

22 Rotor structure 7 Environmental perception system

221 Rotor 71 Lidar

222 Rotary wing motor 72 millimeter wave radar

223 electronic governor 73 vision sensor

3 Driving agencies 8 Chassis control system

31 Chassis 9 4G communication system

32 Turn to structure C Zhou Xiang

33 Drive structure M connector

34 Connecting frame L driving direction

detailed description

The accompanying drawings show embodiments of the present invention, and it will be understood that the disclosed embodiments are merely examples of the present invention, and the present invention can be implemented in various forms, therefore, the specific details disclosed herein should not be construed as limiting Instead, it is only used as the basis of the claims and as an indicative basis for teaching those of ordinary skill in the art to implement the present invention in various ways.

In the description of this application, unless otherwise specified or stated, the term "connected" should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection, or an electrical connection, or Signal connection; "connection" can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In the description of this specification, it should be understood that the orientation words such as “upper” and “lower” described in the embodiments of this application are described from the angle shown in the drawings, and should not be construed as referring to this application. Limitations of Examples.

The land-air amphibious unmanned platform according to the present invention will be described in detail below with reference to the drawings.

1 to 5, the land-air amphibious unmanned platform of the present invention includes a vehicle body 1, a flying mechanism 2, a driving mechanism 3, a computing platform 4, a power supply system 5, a pose acquisition system 6, an environment perception system 7, and a chassis The control system 8 and the flight control system (not shown).

Referring to the examples shown in Figures 2 to 5, the computing platform 4 and the power supply system 5 are set on the vehicle body 1; the pose acquisition system 6 and the environment perception system 7 are communicatively connected to the computing platform 4; the chassis control system 8 is communicatively connected to the driving mechanism 3 and computing platform 4; the flight control system is connected to flight mechanism 2 and computing platform 4. The power supply system 5 is used to provide power and endurance for the vehicle, the chassis control system 8 is used to control the driving mechanism 3 to realize the road driving of the vehicle, the flight control system is used to control the flight mechanism 2 to realize the flight of the vehicle, and the pose acquisition system 6 is used to obtain The posture information and position information of the vehicle, the environmental perception system 7 is used to obtain the environmental information around the vehicle, and the computing platform 4 is used to process the posture information and position information of the vehicle and the environmental information around the vehicle and complete the spatial motion decision and trajectory planning of the vehicle .

Referring to the examples shown in FIGS. 2 to 5, the vehicle body 1 is composed of a plurality of brackets 14, and the plurality of brackets 14 are fixedly connected together. As shown in FIG. 4, a plurality of brackets 14 are fixedly connected together by a connecting member M. The multiple brackets 14 can also be fixedly connected together by direct welding, and the fixed connection between the multiple brackets 14 is not limited to this. A plurality of brackets 14 can also be formed into one body for easy manufacturing. In addition to the frame structure formed by a plurality of brackets 14, the vehicle body 1 may also be a box structure. Of course, the structure of the vehicle body 1 is not limited to this, and the vehicle body 1 may also have other types of structures. The body 1 is made of carbon fiber material. The material of the connecting piece M is aluminum alloy to increase the strength of the vehicle body 1.

As shown in Figs. 2 to 5, the flying mechanism 2 is arranged above the vehicle body 1 for realizing the flight of the vehicle. The flying mechanism 2 includes a rotor arm 21 and a rotor structure 22. The rotor arms 21 are arranged at intervals along the circumferential direction C of the vehicle body 1. The rotor arms 21 have a fixed end 21a and a free end 21b. The fixed end 21a of the rotor arm 21 is connected to the top of the vehicle body 1, and the rotor structure 22 is arranged on the rotor arm 21 . In the examples shown in FIGS. 2 to 5, the rotor structure 22 is provided at the free end 21 b of the rotor arm 21. Specifically, the rotor structure 22 includes a rotor 221, a rotor motor 222, and an electronic governor 223. The electronic governor 223 is installed on the rotor arm 21, the rotor motor 222 is connected to the electronic governor 223, and the rotor 221 is installed on the rotor motor 222. on. In the examples shown in FIGS. 2 to 5, the electronic governor 223 is mounted on the free end 21 b of the rotor arm 21. The rotor motor 222 is used to drive the rotor 221 to rotate to provide power for the flight of the vehicle; the electronic governor 223 is used to control the acceleration of the motor, and the flight control system communicates with the electronic governor 223 of the flight mechanism 2 to control the rotor motor 222 speed. The rotor motor 222 can be a three-phase AC motor, and the motor is limited to use a 12S battery for power supply, and the uniaxial pulling force is not less than 12kg. The electronic speed governor 223 is preferably an electronic speed governor of DJI Company with the model DJI-Z14120C. The material of the rotor 221 of the flying mechanism 2 may be carbon fiber. The rotor arm 21 of the flying mechanism 2 may be a carbon fiber tube, which has high strength, light weight and good fatigue resistance. 2 to 5, at the position (for example, the free end 21b) of the rotor arm 21 where the electronic governor 223 is installed, an aluminum alloy material may be used to increase the strength.

Referring to the examples shown in Figs. 2 to 5, the flying mechanism 2 may be a hexa-rotor flying mechanism, which is highly safe and has the characteristics of flexible flight performance such as vertical lifting and hovering. The number of rotor arms 21 of the flying mechanism 2 is set to six, and correspondingly, the number of rotor structures 22 is set to six. The six rotor wings 221 are distributed at the vertices of a hexagon. It should be noted that the number of rotors 221 of the flight mechanism 2 is not limited to this, and the flight mechanism 2 is a multi-rotor flight mechanism. For example, the flight mechanism 2 may also be a quad-rotor flight mechanism.

As shown in Figs. 2 to 5, the driving mechanism 3 is arranged under the vehicle body 1 for realizing road travel of the vehicle. The driving mechanism 3 includes a chassis 31, a steering structure 32, a driving structure 33, a connecting frame 34, steering wheels 35 and driving wheels 36. The steering wheel 35 and the driving wheel 36 are connected at both ends of the chassis 31; the steering structure 32 is connected with the steering wheel 35, and the driving structure 33 is connected with the driving wheel 36; the connecting frame 34 connects the chassis 31 and the vehicle body 1. The driving mechanism 3 is fixedly connected to the vehicle body 1 through a connecting frame 34. The material of the chassis 31 of the driving mechanism 3 is mainly carbon fiber material, and the key parts (such as the part connected with the steering wheel 35 and the driving wheel 36) are supplemented with aluminum alloy material to enhance the strength and effectively reduce the damage to the driving mechanism due to bumps. 3 impact. The steering structure 32 is used to control the traveling direction of the vehicle, and the driving structure 33 is used to drive the traveling of the vehicle. The steering structure 32 includes a steering motor 321, and the driving structure 33 includes a driving motor 331. In the examples shown in FIGS. 2 to 5, the left and right front wheels in the traveling direction L of the vehicle are steering wheels 35, and the left and right rear wheels are driving wheels 36. The steering structure 32 of the driving mechanism 3 is preferably an Ackerman steering mechanism to solve the problem of different turning radii of the left and right steering wheels 35 caused by the different turning radii of the left and right steering wheels 35 when the vehicle is turning, and reduce the vehicle The loss of other components when turning. The driving structure 33 of the driving mechanism 3 is preferably a differential power distribution structure to solve the problem of understeer. The drive structure 33 also includes a differential (not shown), an adjustable damper (not shown), and a shock absorber (not shown). The differential is used to better distribute power, and the adjustable damper and shock absorber The device plays a buffering role when the vehicle is switched from flying to road driving and landing on the road, as well as shock absorption when driving on the road.

Referring to the examples of FIGS. 2 and 3, the computing platform 4 is provided in the vehicle body 1. The computing platform 4 can realize the processing and calculation of the perception layer of land and air amphibious vehicles (the environment perception system 7 realizes the function of the perception layer and collects environmental information around the vehicle), decision-making algorithms and control strategies, so that the computing platform 4 can realize the space of the vehicle The function of motion trajectory planning and decision formation, based on the formed decision to control the operation of the vehicle. Computing platform 4 can use ADLINK MXE-5400 series industrial computer.

Referring to the examples of FIGS. 2 and 3, the power supply system 5 is provided in the vehicle body 1. The power supply system 5 may be a lithium-ion battery power supply system, which includes a lithium-ion battery pack, which provides sufficient power and battery life for the vehicle to travel or fly on the road. The power supply system 5 is in communication connection with the computing platform 4, and the power supply system 5 sends battery power information to the computing platform 4 through serial communication, so that the computing platform 4 can monitor the working status of the power supply system 5.

As shown in FIGS. 2 to 5, a partition 13 is provided in the vehicle body 1, and the computing platform 4 and the power supply system 5 can be provided on the partition 13 in the vehicle body 1.

4 and 5, the pose acquisition system 6 is installed on the vehicle body 1. The pose acquisition system 6 includes an inertial navigation module 61 and a GPS positioning module 62. The inertial navigation module 61 is used to provide attitude information of the vehicle, and the GPS positioning module 62 is used to provide location information of the vehicle. The attitude information includes the pitch angle, roll angle and yaw angle of the vehicle during flight. The inertial navigation module 61 and the GPS positioning module 62 of the pose acquisition system 6 are in communication connection with the computing platform 4, for example, can be connected via 4G network or WiFi communication. Therefore, the computing platform 4 obtains the posture information and position information data of the vehicle from the inertial navigation module 61 and the GPS positioning module 62 and processes them.

As shown in FIGS. 4 and 5, the inertial navigation module 61 is arranged in the vehicle body 1, specifically, the inertial navigation module 61 may also be arranged on the partition 13 in the vehicle body 1. The inertial navigation module 61 is preferably an inertial navigation module of Refine Technology Co., Ltd. whose model is AH100B, and is equipped with a three-axis accelerometer and a three-axis magnetic sensor to assist a three-axis gyro and temperature compensation algorithm technology.

As shown in Figures 4 and 5, the GPS positioning module 62 includes a GPS locator 621 and a GPS positioning signal receiver 622. The GPS locator 621 is provided in the vehicle body 1, and the GPS positioning signal receiver 622 is provided on the top of the vehicle body 1. The GPS locator 621 obtains the positioning signal of the vehicle position received from the GPS positioning signal receiver. Wherein, the GPS locator 621 can be arranged on the partition (13) in the vehicle body 1. The GPS positioning module 62 may use a GPS positioning module of the Sinan company model Mini-M600G.

As shown in FIG. 2 and FIG. 3, the environment sensing system 7 is installed in the vehicle body 1. The environment sensing system 7 includes a laser radar 71, a millimeter wave radar 72, and a vision sensor 73. The millimeter wave radar 72 is used to collect the relative position information of the vehicle body and the ground during the flight of the vehicle, and the lidar 71 and the visual sensor 73 are used to obtain target information and road condition information in front of the vehicle. The targets include stationary objects and moving objects, such as buildings, obstacles, pedestrians, and vehicles. Target information includes, for example, distance and orientation information of buildings or obstacles, distance, speed, and orientation information of moving vehicles. Road condition information includes drivable areas, road lane lines, traffic signs, and signal light information. In the example shown in the figure, the lidar 71, the millimeter wave radar 72, and the vision sensor 73 are all provided in the front of the vehicle body 1. Specifically, the front part of the vehicle body 1 may be provided with a front platform 12, and the lidar 71, the millimeter wave radar 72 and the vision sensor 73 are provided on the front platform 12 of the vehicle body 1. The lidar 71 can be within a certain distance of the vehicle forward 180° from the vehicle (depending on the specific lidar 71 used, the model of the company is RS-LiDAR-16 multi-line lidar, and the detection distance is within 100m) The target information is detected. The vision sensor 73 is preferably a monocular camera. The lidar 71 can use the model RS-LiDAR-16 multi-line lidar of Sagitar Juchuang. The millimeter wave radar 72 can use Delphi’s ESR 2.5 millimeter wave radar. The vision sensor 73 can be a RealSense D415 camera of Intel Corporation. The lidar 71, millimeter wave radar 72, and vision sensor 73 can also be arranged in a distributed manner. For example, the lidar 71 can be arranged on the top of the car body 1, and the millimeter wave radar 72 can be arranged on the bottom of the car body 1 or the rotor of the flying mechanism 2. On the arm 21, the visual sensor 73 can be arranged on the top of the vehicle body 1, so that the visual sensor 73 can detect around. Therefore, the positions of the laser radar 71, the millimeter wave radar 72, and the vision sensor 73 can be arbitrarily set according to specific requirements (for example, the detection range of the radar and the vision sensor). If necessary, the environment sensing system 7 may also include an under-vehicle camera for aerial photography.

The lidar 71, millimeter-wave radar 72, and vision sensor 73 of the environmental sensing system 7 are respectively connected to the computing platform 4, and are respectively connected through Ethernet, CAN bus, and USB, so that the computing platform 4 is separated from the lidar 71, millimeter wave The radar 72 and the vision sensor 73 obtain environmental information around the vehicle, and are processed by the computing platform 4 and used for the spatial motion decision and trajectory planning of the computing platform 4.

Referring to the examples shown in FIGS. 2 to 5, the flight control system is preferably provided on the top of the vehicle body 1. Specifically, an upper platform 11 is provided on the top of the vehicle body 1, and the flight control system is provided in the upper platform 11. The flight control system is connected to the electronic governor 223 (for example, connected via a bus). The flight control system controls the electronic governor 223 to adjust the speed of the rotor motor 222, and the rotor motor 222 drives the rotor 221 to rotate, thereby realizing the flight of the vehicle. In addition, the electronic governor obtains the operating and status information of the rotor motor 222, and feeds back the operating status information of the rotor motor 222 to the flight control system through the bus. The flight control system is an integrated circuit board, which integrates a single-chip microcomputer controller (not shown, such as the STM32F429 single-chip controller), an attitude detection sensor (not shown, such as an MPU9250 attitude detection sensor), and an air pressure sensor (not shown) Shown, for example a barometric pressure sensor with model GY-BMP280-3.3) and other peripheral circuits (not shown). The single-chip controller is used to receive the control instructions sent by the computing platform 4, data processing, and send control instructions to the flight mechanism 2; the attitude detection sensor is used to obtain the real-time attitude of the vehicle during flight, and the air pressure sensor is used to collect the vehicle's flight For real-time air pressure, the single-chip controller receives the control instructions sent by the computing platform 4, combines the real-time information (real-time attitude, real-time air pressure) during the current flight of the vehicle, generates control instructions after processing and calculation, and controls the electronic governor 223, thereby achieving flight The control system performs flight control functions for the flight mechanism 2.

In the land-air amphibious unmanned platform of the present invention, the chassis control system 8 is provided on the vehicle body 1 or the driving mechanism 3. As shown in FIGS. 2 and 4, the chassis control system 8 is provided on the chassis 31 of the driving mechanism 3. The chassis control system 8 is connected to the steering motor 321 and the driving motor 331 (for example, connected via a bus). The chassis control system 8 controls the steering motor 321 of the steering structure 32 and the drive motor 331 of the drive structure 33. The drive motor 331 drives the drive wheel 36 to rotate, thereby driving the vehicle to travel on the road, and the steering motor 321 drives the steering wheel 35 to rotate, thereby realizing the vehicle movement The steering when driving on the road. The chassis control system 8 is an integrated circuit board, which integrates a single-chip controller (not shown, such as a single-chip controller with a model of STM32F429), a driving circuit for driving the motor (driving motor 331 and steering motor 321) and other peripheral circuits ( Not shown) and so on. The single-chip controller receives and processes the control instructions sent by the computing platform 4, and the output signals act on the drive circuit. The drive circuit is used to drive the drive motor 331 and the steering motor 321, so that the drive motor 331 and the steering motor 321 drive the drive wheel 36 And the steering wheel 35 rotate, the drive motor 331 and the steering motor 321 both include an encoder, the encoder is used to collect the speed information of the drive motor 331 and the steering motor 321 and send it to the microcontroller controller, so as to realize the chassis control system 8 to the driving mechanism 3 Perform road driving control functions.

Referring to the examples shown in FIGS. 2 to 5, the land-air amphibious unmanned driving platform may further include a 4G communication system 9, and the computing platform 4 is communicatively connected to an external remote terminal through the 4G communication system 9. The computing platform 4 can send the acquired working status data of the power control system 5, the posture information and position information data of the vehicle, and the environmental information data around the vehicle to a remote terminal. The remote terminal includes a server, and the server can save and analyze these data. The remote terminal can also include a human-computer interaction interface to display these data in real time, enabling the operator to monitor the status of the vehicle in real time, including the operating status of the vehicle (flight or road driving), the working status of the power control system 5, the posture of the vehicle, and The position and road condition information in front of the vehicle, the drivable area, the working state of the rotor motor 222, the working state of the steering motor 321 and the driving motor 331, and so on.

In the land-air amphibious unmanned platform of the present invention, the inertial navigation module 61 and the GPS positioning module 62 of the pose acquisition system 6 provide the posture information and position information of the vehicle on the computing platform 4, the lidar 71 of the environmental perception system 7, The millimeter wave radar 72 and the visual sensor 73 provide the computing platform 4 with environmental information around the vehicle, including target information in front of the vehicle, road condition information, and relative position information between the vehicle body and the ground. The computing platform 4 can process this information and plan the space movement trajectory of the vehicle to form autonomous navigation decisions, thereby generating control instructions. Then the computing platform 4 sends control instructions to the chassis control system 8 and/or the flight control system, so that the chassis control system 8 controls the steering motor 321 of the steering structure 32 and the driving motor 331 of the drive structure 33, and the steering motor 321 drives the steering wheel 35 to rotate, The driving motor 331 drives the driving wheels 36 to steer, so as to realize the road running of the vehicle; the flight control system controls the electronic governor 223 to adjust the speed of the rotor motor 222, and the rotor motor 222 drives the rotor 221 to rotate, thereby realizing the flight of the vehicle. The computing platform 4 controls the driving mechanism 3 and the flight control system to control the flight mechanism 2 through the chassis control system 8 according to the planned space motion trajectory of the vehicle, so as to realize the functions of autonomous driving and autonomous navigation of the vehicle space, thus the land-air amphibious unmanned vehicle of the present invention The driving platform can provide hardware test conditions for the research of space perception, motion trajectory planning and autonomous navigation decision-making of land and air amphibious vehicles.

The above detailed description describes a number of exemplary embodiments, but this document is not intended to be limited to explicitly disclosed combinations. Therefore, unless otherwise stated, the various features disclosed herein can be combined together to form multiple additional combinations not shown for the purpose of brevity.

The above descriptions are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

A land-air amphibious unmanned platform, which is characterized by comprising a vehicle body (1), a flying mechanism (2), a driving mechanism (3), a computing platform (4), a power supply system (5), and a pose acquisition system ( 6), environmental perception system (7), chassis control system (8) and flight control system;

The flying mechanism (2) is arranged above the vehicle body (1) for realizing the flight of the vehicle;

The driving mechanism (3) is arranged under the vehicle body (1) and is used to realize the road driving of the vehicle;

The computing platform (4) and the power supply system (5) are arranged on the car body (1);

The pose acquisition system (6) and the environment perception system (7) are connected to the computing platform (4) in communication;

The chassis control system (8) is communicatively connected to the driving mechanism (3) and the computing platform (4); the flight control system is communicatively connected to the flight mechanism (2) and the computing platform (4);

The power supply system (5) is used to provide power and endurance for the vehicle, the chassis control system (8) is used to control the driving mechanism (3) to realize the road travel of the vehicle, and the flight control system is used to control the flight mechanism (2) to realize the flight of the vehicle. The pose acquisition system (6) is used to obtain the attitude information and position information of the vehicle, the environment perception system (7) is used to obtain the environmental information around the vehicle, and the computing platform (4) is used to process the attitude information and position information of the vehicle and the vehicle Surrounding environment information and complete the vehicle's spatial motion decision and trajectory planning.
The land-air amphibious unmanned platform according to claim 1, wherein the flight control system is arranged on the top of the vehicle body (1).
The land-air amphibious unmanned platform according to claim 1, characterized in that the environmental perception system (7) includes a laser radar (71), a millimeter wave radar (72) and a vision sensor (73), and a millimeter wave radar (72) ) Is used to collect the relative position information of the vehicle body (1) and the ground during the flight of the vehicle, and the lidar (71) and the visual sensor (73) are used to obtain target information and road condition information in front of the vehicle.
The land-air amphibious unmanned platform according to claim 3, characterized in that the lidar (71), millimeter wave radar (72) and vision sensor (73) are respectively arranged on the front of the vehicle body (1).
The land-air amphibious unmanned platform according to claim 1, wherein the pose acquisition system (6) includes an inertial navigation module (61) and a GPS positioning module (62), and the inertial navigation module (61) is used to provide The GPS positioning module (62) is used to provide the position information of the vehicle.
The land-air amphibious unmanned platform according to claim 5, characterized in that the inertial navigation module (61) is arranged in the vehicle body (1); the GPS positioning module (62) includes a GPS locator (621) and GPS positioning The signal receiver (622), the GPS locator (621) are installed in the car body (1), the GPS positioning signal receiver (622) is installed on the top of the car body (1), and the GPS locator (621) obtains the positioning from the GPS The positioning signal of the vehicle position received by the signal receiver.
The land-air amphibious unmanned platform according to claim 1, wherein the flight mechanism (2) includes a rotor arm (21) and a rotor structure (22);

The rotor arms (21) are arranged at intervals along the circumference (C) of the car body (1), the rotor arms (21) have a fixed end (21a), and the fixed end (21a) of the rotor arm (21) is connected to the car body (1) The rotor structure (22) is arranged on the rotor arm (21).
The land-air amphibious unmanned platform according to claim 7, wherein the rotor structure (22) includes a rotor (221), a rotor motor (222), and an electronic governor (223), and the electronic governor 223 is installed On the rotor arm (21)), the rotor motor (222) is connected to the electronic governor 223, and the rotor (221) is installed on the rotor motor (222).
The land-air amphibious unmanned platform according to claim 1, wherein the driving mechanism (3) includes a chassis (31), a steering structure (32), a driving structure (33), a connecting frame (34), and steering wheels (35) and driving wheel (36);

The steering wheel (35) and the driving wheel (36) are connected to the two ends of the chassis (31);

The steering structure (32) is connected with the steering wheel (35), and the driving structure (33) is connected with the driving wheel (36);

The connecting frame (34) connects the chassis (31) and the vehicle body (1).
The land-air amphibious unmanned platform according to claim 1, wherein the chassis control system (8) is arranged on the vehicle body (1) or the driving mechanism (3).