Robot queue control method and system

Abstract

The invention relates to a robot queue control method. The robot queue control method comprises the steps that (1) all robots receive a queuing instrument, wherein one robot is a piloting robot, the rest of robots are following robots, and the piloting robot works according to the set speed and route; (2) the following robots scan other robots around, color lump image identifications of other robots are found, and whether color lump positions are found or not is judged; (3) after the robots find the color lump positions, color lump judgment is carried out, and positioning and movement are carried out according to the set distance; (4) whether a robot queue is formed or not is judged, if the robot queue is formed, position information is sent for returning, and if the robot queue is not formed, color lump judgment is continuously carried out; and (5) if the robots do not find the color lump positions, information is uploaded to a background, the background relieves the queuing instrument, and position information is sent for returning. By means of the control system, visions of the robots are used, tracking and positioning are carried out through the visions, queuing is completed, the adaptability is high, and extra assisting equipment is not needed.

Description

technical field [0001] The invention belongs to the field of intelligent control, in particular to a method and system for controlling a robot queue. Background technique [0002] With the development of robot technology, robots have more and more functions and more and more applications. At the same time, the tasks that need to be completed by relying on robots are becoming more and more sophisticated and complex, and it is gradually difficult for a single robot to complete the goals set by people. A robot system composed of multiple robots, which automatically completes a set task by queuing, has gradually become an important trend in the development of the robotics field. At the same time, it is more convenient to manage multiple robots by using robot queuing technology. [0003] The formation control of multi-robots is a hot topic in the field of control recently, and its main task is to make the formation control of multi-robots more accurate. The so-called multi-rob...

AI Technical Summary

Problems solved by technology

Among them, the control strategy based on the behavior method is simple, but the stability of formation control is difficult to guarantee; the real-time control of the artificial potential field method is excellent, but the design of the potential field function is difficult; the control precision of the virtual structure method is high, but the disadvantage is that it lacks flexibility; the loop method The stability of the robot is not high; the distributed control takes into account the characteristics of each robot, and has strong flexibility and robustness. The disadvantage is that the manufacturing cost of the individual robot is high; the average cost of the robot following the pilot method is low, and the control is simple, but High dependence on pilot robot and poor reliability

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