Multi-mobile-robot system collaborative experimental platform and visual segmentation and positioning method thereof

Abstract

The invention discloses a multi-mobile-robot system collaborative experimental platform and a visual segmentation and location method of the collaborative experimental platform. The collaborative experimental platform is composed of a global vision monitoring system and a plurality of mobile robots the same in mechanism, wherein the global vision monitoring system is composed of an n-shaped support, a CCD camera, an image collection card and a monitoring host, and the CCD camera is installed on the n-shaped support and arranged corresponding to the mobile robots and connected with the image collection card installed in a PCI slot of the monitoring host through a video line. The visual segmentation method is combined with a frame difference method and a light stream method to segment a barrier. Threshold segmentation is performed based on a color code plate to achieve the visual location method. Experimental verification of collaborative technologies such as formation control, target search, task allocation and route planning in a multi-mobile-robot system can be met, and the multi-mobile-robot system collaborative experimental platform has the advantages of being low in cost and rapid to construct.

Description

technical field [0001] The invention belongs to the field of multi-mobile robot systems, and relates to the construction of a multi-mobile robot system collaborative experiment platform, in particular to the realization of vision-based environment segmentation and robot positioning methods in the experiment platform. Background technique [0002] In recent years, with the continuous expansion of the application field of robots, the environment faced by robots has become more and more complex, the types of tasks have become more and more diverse, and the complexity of tasks has become higher and higher. A single robot has been overwhelmed by this, while multiple The inherent parallelism and functional superposition of the robot system make it have higher task execution ability and execution efficiency, and the system robustness is also better. Therefore, multi-robot systems have become a research hotspot and trend in the field of robotics. The key technologies involved in mu...

AI Technical Summary

Problems solved by technology

Judging from the existing patents, the current robot platform is mainly based on a single mobile robot. If relying on multiple robots of this type to form a multi-robot system collaborative experiment platform, it is also necessary to solve the communication between multiple robots and the construction of an environmental map. , robot positioning and other related technologies, so the existing experimental platforms for mobile robots cannot meet the system collaboration experiments of multiple mobile robots

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