Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A control method and system for a mobile robot platform based on ROS

A technology of mobile robots and control methods, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., which can solve the problems of reduced real-time performance of robots, extended production line length, and increased processor costs, so as to reduce data processing costs and reduce data volume. , Improve the effect of production flexibility

Active Publication Date: 2022-02-22
GUANGDONG UNIV OF TECH
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A control method and system for a mobile robot platform based on ROS

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The present invention relates to the technical field of manipulator control devices, more specifically, to a control method and system for a ROS-based mobile robot platform, including: detecting the surrounding environment through laser radar, analyzing and obtaining an environmental distribution map; Monitor the raw material replenishment signal of the production line, and drive the mobile robot to move to the designated position; the Raspberry Pi drives the mechanical arm to pick up the raw material, and drives the mobile robot to return to the corresponding position for raw material replenishment; when the producer issues a task execution command, the Raspberry Pi receives the command to drive The mobile robot moves to the task point and executes the set task. The invention uses the distance data collected by the laser radar to detect and model the surrounding environment, and controls the mobile robot to supplement materials and complete specified tasks between the production lines, and can realize collaborative work among multiple mobile robots, thereby improving production flexibility. Simplify labor and improve work efficiency.

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com