Cooperating work control method and system for robot of multiple degree of freedom

An autonomous robot and control method technology, applied in the direction of comprehensive factory control, comprehensive factory control, electrical program control, etc., can solve the problems of low robot efficiency, inability to adapt to complex tasks, and inability to coordinate control

Inactive Publication Date: 2009-02-11
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0003] Aiming at the defects in the prior art that only multi-robot cooperation mode can be realized, collaborative control cannot be realized in a real sense, the efficiency of robots completing tasks is low, and complex tasks cannot be adapted, the present invention designs a system supported by a wireless sensor network, A Method for Coordinated Control of Multiple Robots

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  • Cooperating work control method and system for robot of multiple degree of freedom
  • Cooperating work control method and system for robot of multiple degree of freedom
  • Cooperating work control method and system for robot of multiple degree of freedom

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Embodiment Construction

[0007] The multi-robot collaborative operation control system includes a control center, a wireless gateway, a wireless sensor network composed of multiple wireless sensor network nodes distributed on the job site, and robots equipped with wireless sensors are distributed on the job site. According to the position of multiple wireless sensor nodes, the robot adopts the method of trilateral positioning to determine the position of the robot. The control center is responsible for the task assignment of the robot. All robots work together to assign tasks. The wireless gateway is connected to the control center through Ethernet, and broadcasts the task distribution plan of the control center to the robot through the wireless sensor network, and the robot performs the task according to the pre-assigned task. The robot is only equipped with wireless sensors and does not occupy other network resources, and realizes collaborative work under the unified deployment of the control center...

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Abstract

The invention relates to an autonomous multi-robot collaboration control method which belongs to the automatic control field and aims to solve the problems that the multi-robot in the prior art can not realize the collaboration control in a real sense, has low efficiency and is not adaptable to the complex task. Based on a wireless sensor network, a control center establishes a collaboration task allocation plan for each robot according to the state and the position of a task object to be executed and the capability and the location of the robots, thereby achieving the effect of cooperative control of the multi-robot. Therefore, the robot can operate collaboratively under the unified allocation of the control center using the wireless sensor only, without occupying other network resources. The autonomous multi-robot collaboration control method ensures the collaboration of the multiple robots in the real sense within a wide range.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a collaborative control technology for multi-robots. Background technique [0002] With the maturity of robotics technology, it has become possible for multiple autonomous mobile robots to work together in a large area. In order to realize multi-robot collaborative work, the robots must be controlled cooperatively so that the robots do not have task conflicts and work efficiency is improved; and positioning information is provided for the robots so that the robots can complete tasks within a larger range. From the research situation at home and abroad, there are many multi-robot collaborative control systems, but they all focus on the research of robot task assignment methods, and rarely involve the research of multi-robot collaborative control. The more famous multi-robot collaborative control system is Parker L E. In IEEE Transactions On Robotics and Automation, 1998, 14(2), p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418H04L12/28
CPCY02P90/02
Inventor 郑太雄李银国冯辉宗李锐郭文浩
Owner CHONGQING UNIV OF POSTS & TELECOMM
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