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Cooperation control system for underwater multi-robot

An underwater robot and collaborative control technology, applied in the field of robotics, can solve problems such as difficult mathematical models and difficult artificial materials, and achieve the effects of strong versatility, real-time performance, and improved work efficiency

Inactive Publication Date: 2009-02-04
PEKING UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the movement of robotic fish in water involves the dynamics of the surrounding fluid environment and its own kinematics. It is difficult to establish an accurate mathematical model by analytical methods. Even if there is a relevant model, it is difficult to realize such a model with artificial materials.

Method used

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  • Cooperation control system for underwater multi-robot
  • Cooperation control system for underwater multi-robot
  • Cooperation control system for underwater multi-robot

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Embodiment Construction

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] Such as figure 1As shown, the present invention includes a control system 10 , an image acquisition device 20 , a plurality of underwater robots 30 and a power supply. The user performs cooperative control on the image acquisition device 20 and the underwater robot 30 through the control system 10 .

[0028] The control system 10 includes a main control device 11 and a wireless communication device 12 . Wherein, the main control device 11 includes a computer 13, a real-time display device 14 and an operating device 15 connected in sequence, such as a keyboard and a mouse. The wireless communication device 12 adopts a duplex communication device to ensure the communication between the main control device 11 and each underwater robot 30 .

[0029] The operator sets parameters and selects tasks in the interface of the real-time display device 14...

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Abstract

The invention relates to a multi-underwater-robot collaborative control system, comprising a control system, an image acquisition equipment, a plurality of underwater robots and a power supply; the control system comprises a master control device and a wireless communication equipment; the master control device comprises a computer, a real-time display equipment and an operating equipment; the master control device keeps communication with each underwater robot through the wireless communication equipment; an image processing module, a collaborative control module and a user interface module are arranged in the computer; a robot control module is arranged in each underwater robot; each robot control module receives an instruction from the computer and sends the instruction to the corresponding underwater robot, and feedbacks the internal state information of the underwater robot to the computer at the same time. The multi-underwater-robot collaborative control system is provided with strong universality and scalability and has a graphical user interface; and the system also can simulate the dynamic process and has the recording and playback functions.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a cooperative control system of multiple underwater robots. Background technique [0002] Multi-robot cooperative control is a hot issue in the field of robotics today. In the field of robotics, when it is difficult for a single robot to complete a task independently, in order to make up for the lack of individual ability, people usually use multiple robots to cooperate with each other to complete a complex task. Multi-robots exhibiting coordinated behavior can greatly increase the utility of the overall system. A coordinated multi-robot system has many advantages over a single-robot system. First, the distribution of space, resources, and functions of the multi-robot system makes it have higher work efficiency and a wider task field; secondly, the higher redundancy of the multi-robot system makes it have stronger fault tolerance and higher robustness; in addition, compared to ...

Claims

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Application Information

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IPC IPC(8): G05B19/418G06K9/00
Inventor 黎章王晨邵金燕范瑞峰谢广明王龙
Owner PEKING UNIV
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