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Multi-robot cooperation control system

A collaborative control and multi-robot technology, applied in the general control system, control/regulation system, digital control, etc., can solve the problems of large error accumulation of odometer technology, GPS accuracy problem, unsuitable for indoor use, etc., to achieve flexible movement ability, The effect of less interference from interference factors and rich image information

Inactive Publication Date: 2015-09-09
ACADEMY OF ARMORED FORCES ENG PLA
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  • Claims
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Problems solved by technology

However, the above methods have limitations. For example, the odometer technology has a large error accumulation due to its integral characteristics; the inertial navigation technology will drift with time, making the error increase with time; GPS accuracy is problematic and it is not suitable for indoor use, etc.

Method used

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Embodiment 1

[0026] This embodiment provides a multi-robot cooperative control system, which includes a host 1 , a camera 2 , an XBee transceiver 3 and a plurality of robots 4 .

[0027] The host 1 is a computer, and of course it can also be an industrial computer.

[0028] The robot 4 is a four-wheel omnidirectional mobile robot, and the plurality of robots 4 are distributed in the same working plane.

[0029] The camera 2 is connected to the host 1, and is used to transmit the image taken by it to the host, and the host receives the image, and processes the image to obtain the position of the robot; in this embodiment, the camera It can be installed on a fixed object above the plurality of robots, so that the images taken by the camera include all the robots; in this embodiment, the camera is a USB camera with a resolution of 640*480, and the camera has Good camera effect, simple connection with the host, easy to arrange and move, low cost and other advantages. In a multi-robot system ...

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Abstract

The invention discloses a multi-robot cooperation control system. The system includes a host, a camera, an XBee transceiver and multiple robots. The camera is in signal connection with the host, and is used for shooting images of all the robots. The XBee transceiver is in signal connection with the host, and also in signal connection with XBee transmit-receive modules of the robots. The four-wheel omnidirectional mobile robots, adopted by the system, have flexibly moving capabilities, overcome the problem that the moving range of differential driven wheel mobile robots is limited, and help to improve the performance of a multi-robot platform. Image processing techniques are utilized by the multi-robot cooperation control system to position the robots. Images captured by the camera are rich in information. The sampling period is short. The system is less interfered by a magnetic field and other interference factors. The restrictions of the prior art, such as mileometer, inertial navigation, GPS and other positioning technologies, are overcome.

Description

technical field [0001] The invention relates to a robot control system, in particular to a multi-robot cooperative control system. Background technique [0002] With the application of multi-robot systems in industry, military, medical and other fields, the development of robot platforms has become one of the hotspots of multi-robot research. At present, various research institutions at home and abroad are devoting themselves to developing their own multi-machine platforms to verify applications related to multi-robots. [0003] The performance of a multi-robot platform depends on its constituent robots. Currently, wheeled mobile robots with differential drive are more common in terms of land mobile robots. However, in some narrow areas or activities with many obstacles, the differential drive method cannot move arbitrarily, and the moving range of the robot is greatly limited. [0004] The positioning system of the multi-robot platform is the premise of multi-robot contro...

Claims

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Application Information

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IPC IPC(8): G05B19/414
CPCG05B19/4141
Inventor 王国胜吕强任哲平刘峰郭峰马建业
Owner ACADEMY OF ARMORED FORCES ENG PLA
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