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Multiple-heterogeneous robot cooperation method based on middleware

A multi-robot, robot technology, applied in the direction of comprehensive factory control, comprehensive factory control, electrical program control, etc., can solve the problem of cooperation without heterogeneous robots, and achieve the effect of improving reusability

Inactive Publication Date: 2013-09-25
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Retrieving domestic and foreign patents and other documents found that there is no method to use middleware technology to simplify the development process and improve system reliability and work efficiency for the cooperation of heterogeneous robots.

Method used

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  • Multiple-heterogeneous robot cooperation method based on middleware

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Embodiment Construction

[0025] The technical solutions of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0026] The overall structure of the present invention is as figure 1 As shown, it consists of three parts: mission planner 1 , robot manager 2 and multi-heterogeneous robot system 3 .

[0027] The user sends instructions through the man-machine interface, and the task planner 1 converts the user's abstract instructions into a task sequence that the robot system can execute, and modifies the planning results in real time according to the task execution situation.

[0028] The robot manager 2 includes a component management module 20 , an interface management module 21 , a state analysis module 22 , a task analysis module 23 , an error handling module 24 and an execution control module 25 . It is mainly responsible for sending the tasks generated by the task planner 1 to the corresponding robots for execution, and then feeding back t...

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Abstract

The invention discloses a multiple-heterogeneous robot cooperation method based on middleware. A multiple-heterogeneous robot cooperation system is developed and managed through a layered structure and mainly comprises a multiple-heterogeneous robot system, a robot managing device and a task planning device, wherein the multiple-heterogeneous robot system is composed of a plurality of robots packaged through a middleware technology, and achieves dynamic communication and cooperation among the robots through structuralized interface definitions; the task planning device converts abstract commands of a user to task sequences capable of being executed by the robots and modifies planning results in real time according to task executing situations; the robot managing device issues tasks generated by the task planning device to corresponding robots executing the tasks and feeds back executing states and structures of the robots to the task planning device. The multiple-heterogeneous robot system designed and developed based on the middleware technology notably improves development efficiency and effectively increases system robustness and expansibility.

Description

technical field [0001] The invention relates to the field of multi-robots, in particular to a multi-heterogeneous robot cooperation method realized based on middleware technology. Background technique [0002] With the wide application of robotics and the increase of task complexity, multi-robot systems have attracted more and more attention. Multi-robot systems not only refer to multiple robot systems of the same type that cooperate to complete tasks, but also include heterogeneous robot systems that complete complex tasks through complementary capabilities. Therefore, there may be huge differences in the software and hardware platforms of different robots in a multi-robot system, that is to say, the hardware structure, processor, operating system, programming language, and control method are all different. This requires the establishment of an abstract data information library on the upper layer of the hardware, and the packaging of each robot as a unified interface for t...

Claims

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Application Information

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IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 王雯珊曹其新方波冷春涛
Owner SHANGHAI JIAO TONG UNIV
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