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Indoor mobile robot cooperative system based on fuzzy algorithm and two-dimensional code self correction

A mobile robot and fuzzy algorithm technology, applied in two-dimensional position/channel control, control/adjustment system, instrument, etc., can solve the problems of high positioning cost and difficult path planning, achieve low-cost positioning, improve work efficiency, The effect of avoiding conflict

Inactive Publication Date: 2017-03-22
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] But at the same time, the collaborative system of indoor mobile robots is facing the problems of high positioning cost and difficult path planning. Among the current control methods, fuzzy control can easily solve this problem.

Method used

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  • Indoor mobile robot cooperative system based on fuzzy algorithm and two-dimensional code self correction
  • Indoor mobile robot cooperative system based on fuzzy algorithm and two-dimensional code self correction
  • Indoor mobile robot cooperative system based on fuzzy algorithm and two-dimensional code self correction

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with specific examples.

[0027] In this embodiment, the collaborative system includes several robot bodies and several two-dimensional codes distributed indoors. The robot body is equipped with a single-chip microcomputer, an accelerometer module, a gyroscope module, a two-dimensional code recognition module, a communication module and an ultrasonic sensor. The MCU uses STM32, the accelerometer and gyroscope module can be selected: GY-521 MPU6050 module, the two-dimensional code recognition module is: N5680 of Honeywell, which can obtain the two-dimensional code, and has a supplementary light device and a camera to take pictures.

[0028] Acquisition of coordinates:

[0029] This system places a specific two-dimensional code in a specific place indoors, and establishes a two-dimensional coordinate system indoors. The indoor position coordinates are represented by QR codes, and the coordinates of each ...

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Abstract

The invention discloses an indoor multi-mobile-robot cooperative system based on a fuzzy algorithm and two-dimensional code self correction. The system comprises multiple rotor bodies and two-dimensional codes distributed at different indoor positions. Each of the two-dimensional codes comprises a QR code which represents the position coordinate of each two-dimensional code in an indoor two-dimensional coordinate system. Each of the robot bodies is provided with a single chip microcomputer, an acceleration meter module, a gyroscope module, a two-dimensional code recognition module, a communication module, and an ultrasonic sensor. The system has the low cost, the efficient path planning can be realized, multiple robots are in cooperative operation and the conflict is avoided, and the working efficiency is high.

Description

technical field [0001] The present invention relates to a multi-mobile robot collaboration system, in particular to an indoor mobile robot collaboration system based on fuzzy algorithm and two-dimensional code self-correction, which is based on fuzzy algorithm and ultrasonic module for path planning, and obtains coordinates through two-dimensional code information And a multi-robot collaborative system that corrects the motion position based on the image processing results of the two-dimensional code, and performs inertial motion correction based on the gyroscope module and the accelerometer module. Background technique [0002] At present, the application of mobile robots is becoming more and more extensive, and has penetrated into almost all fields, especially indoor mobile robots, which are more and more able to replace people to complete some indoor work. Among them, when faced with complex or heavy workload tasks, multi-robot collaborative systems are more helpful, and ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0234G05D1/0255G05D1/027G05D1/0293
Inventor 吴昊天刘凯鉴张天晨
Owner ZHEJIANG UNIV
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