Network synchronous control method of robot cluster cooperation tasks

A task network and synchronous control technology, applied in electrical components, time-division multiplexing systems, multiplexing communications, etc., can solve problems such as second-level errors, delays, inaccurate and unified actions, and time delays, and achieve Improve the accuracy and success rate, solve application difficulties, and shorten the effect of time delay

Inactive Publication Date: 2016-06-15
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, most of the synchronous control methods of multiple robots inevitably have a certain time delay problem, and the actual effect is not good.
And the action success rate and accuracy rate are low
In addition, different robots take different times to respond to the behavior start signal. In actual tests, it can be found that there may be second-level errors in the system time between different robots.
Based on the above reasons, the collaborative tasks of robot clusters have the problems of high time delay and inaccurate and unified actions.

Method used

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  • Network synchronous control method of robot cluster cooperation tasks
  • Network synchronous control method of robot cluster cooperation tasks

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] A method for synchronous control of a robot cluster cooperative task network, comprising the following steps:

[0026] 1) Computer-side programming:

[0027] Write a python script in the python development environment of the computer, and the action program executed by the robot runs on the computer;

[0028] 2) Control method of master robot and slave robot:

[0029] The main robot and the choregraphe box in the slave robot respectively write robot python scripts corresponding to the python script, and the master robot subscribes to the ip addresses of all slave robots in the network. Subsequent task instructions are transmitted from the master robot to the slave robot; usually, if the computer side directly controls multiple robots in the cluster, due to network delays, it is easy to cause too large a time gap for each robot to receive task instructions, and the master robot sends instructions to the slave robot. Passing can greatly reduce the time difference betwee...

Embodiment 2

[0042] The control method for synchronous operation of robots as described in Embodiment 1 is different in that the robot is a NAO robot.

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Abstract

The invention relates to a network synchronous control method of robot cluster cooperation tasks. According to the network synchronous control method of robot cluster cooperation tasks, action instructions transmitted from a computer side are received through a host robot; the action instructions are processed and then are transmitted to multiple slave robots; the closed-loop control of the synchronous working of multiple robots is realized; the time differences of receiving task instructions by different robots are reduced; before the multiple robots execute the instructions, a delay control method and an absolution time method are added; the precise behavior synchronization of the multiple robots is realized; compared with the existing control method, in adoption of the method provided by the invention, the action execution accuracy and success rate are higher; and the time delay is less.

Description

technical field [0001] The invention relates to a network synchronous control method for a robot cluster collaborative task, belonging to the technical field of computers and robots. Background technique [0002] With the rapid development of new-generation robot technology, the requirements for robot cluster collaborative tasks are getting higher and higher. Synchronization as defined in the present invention refers to starting task programs installed on the robot at the same time. The timing of the synchronization between the robots needs to be very precise in order to exhibit uniform movements. However, most of the current control methods for synchronizing multiple robots inevitably have a certain time delay problem, and the actual effect is not good. And the action success rate and accuracy rate are low. In addition, different robots take different times to respond to the behavior start signal. In actual tests, it can be found that there may be second-level errors in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04J3/06H04L29/08
CPCH04J3/0635H04L67/1095
Inventor 邢建平孟宪鹏王康赵庆涛孟宪昊李栋李东辕
Owner SHANDONG UNIV
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