Control method and system for mobile robot platform on the basis of ROS (Robot Operating System)

A mobile robot and control method technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of robot real-time decline, insufficient production flexibility, and extended production line length, so as to reduce data processing costs and improve production flexibility. performance, the effect of reducing the amount of data

Active Publication Date: 2018-12-25
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The visual sensor for image processing is easily affected by ambient light; and the processing of image data requires the robot to have strong data processing capabilities, matching its data volume requires an increase in the cost of the processor, and a large amount of data processing will lead to real-time performance of the robot. decline
In addition, the existing technology adopts the fixed position working method of the robot, the length of the production line is continuously extended, and the production flexibility is insufficient, and the software platform of the existing technology is different for each type of robot, and the operation method cannot be quickly transplanted

Method used

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  • Control method and system for mobile robot platform on the basis of ROS (Robot Operating System)

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Embodiment 1

[0039] The present embodiment is the embodiment of the control method of the mobile robot platform based on ROS, comprises the following steps:

[0040] S1. Detect the surrounding environment through the laser radar, and upload the detected data to the Raspberry Pi, and process it through the SLAM algorithm to obtain the environmental distribution map;

[0041] Specifically, install the ROS operating system on the Raspberry Pi as the basis of the ROS-based mobile robot platform, use the ROS operating system to build the urdf model of the robot platform, and the specific files of the model can be obtained through SolidWorks software or Gazebo in the robot ROS operating system Establish. The operation of the mobile robot platform is simulated in Gazebo, and the environment distribution map is obtained through the instant localization and mapping (SLAM) algorithm, and the simulated environment is matched with the real environment.

[0042] S2. When the producer does not issue a ...

Embodiment 2

[0057] Such as figure 1 Shown is the embodiment of the control system of the mobile robot platform based on ROS of the present invention, comprises data processing module and the perception module connected with data processing module, observation module, grasping module and driving module:

[0058] The observation module is a graphic display module, and the graphic display module is set on the operating system of the mobile robot, and the operating system is connected to the producer's computer;

[0059] The grasping module includes a driving steering gear and a mechanical arm, the driving steering gear is connected to the data processing module, and the mechanical arm is connected to the driving steering gear;

[0060] The driving module includes a driving circuit, a driving motor and a power supply, the power supply is connected to the driving circuit, and the driving motor is connected to the driving circuit; the driving module is arranged on a mobile chassis, and the mobi...

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Abstract

The invention relates to the technical field of mechanical arm control devices, in particular to a control method and system for a mobile robot platform on the basis of an ROS (Robot Operating System). The method comprises the following steps that: through a laser radar, detecting surrounding environment, and carrying out analysis to obtain an environment distribution map; monitoring a productionline raw material supplementation signal by Raspberry Pi, and driving the mobile robot to move to an appointed position; driving the mechanical arm by the Raspberry Pi to clamp raw materials, and driving the mobile robot to return to a corresponding position to carry out raw material supplementation; and when a producer emits a task execution instruction, receiving the instruction by the RaspberryPi to drive the mobile robot to move to a task point and execute a set task. By use of the method, the surrounding environment is subjected to detection modeling through the distance data collected by the laser radar, the mobile robot is controlled to carry out material supplementation and finish appointed work between production lines, cooperative work among a plurality of mobile robots can be realized, production flexibility is improved, manual work is simplified, and working efficiency is improved.

Description

technical field [0001] The present invention relates to the technical field of mechanical arm control devices, and more specifically, to a control method and system for a ROS-based mobile robot platform. Background technique [0002] In the trend of Industry 4.0, the production line is continuously extended, and it is necessary to increase the degree of automation to load the huge number of production tasks. The modernization of the logistics process in future production is an inevitable trend. From a long-term perspective, only human-machine collaboration alone cannot fully meet the flexibility requirements of modern production. Multi-robot collaboration can not only improve production efficiency, but also simplify labor. Using robots to replace human labor requires robots to have corresponding autonomous capabilities. In existing technical fields such as production lines, the form of robots participating in production is usually a fixed-position mechanical arm, which perf...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/161B25J9/1612
Inventor 何苗郑富瑜黄仕华温坤华
Owner GUANGDONG UNIV OF TECH
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