Multi-mobile-robot scheduling system design method based on multiple sensors

A mobile robot and design method technology, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve problems such as increased maintenance costs, guide rail wear, and limited robot movement range

Active Publication Date: 2020-05-05
DALIAN UNIV OF TECH
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Problems solved by technology

This navigation method has many disadvantages. First, the robot is restricted to run on a fixed track, which greatly limits the range of movement of the robot. Second, the working scene space is fixed. If you want to change the working scene or add additional transportation points, you must Local or even global rails must be redeployed; finally, rails may wear out over time, requiring additional repair costs
In addition, the current multi-mobile robot scheduling system mostly adopts a

Method used

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  • Multi-mobile-robot scheduling system design method based on multiple sensors
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  • Multi-mobile-robot scheduling system design method based on multiple sensors

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with accompanying drawing.

[0049] Such as figure 1 As shown, a multi-sensor based multi-mobile robot scheduling system design method includes the following steps:

[0050] Step 1. Build multiple mobile robot platforms, and experiment with mobile robot assembly models such as figure 2 As shown, the TurtleBot2 mobile robot is used as the mobile chassis, and a red pose recognition target is set on the outer side of the mobile chassis. There are two red stripes on the front side of the red pose recognition target, that is, the front side of the robot, and the red pose recognition target There is a single red stripe on the rear side, and a blank area with a length of 1.5-1.6cm is left at the connection between the front and rear sides of the red pose recognition target; two layers of acrylic plates are set on the mobile chassis and form three layers with the mobile chassis Space, use the NVIDIA Jeston ...

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Abstract

The invention belongs to the technical field of computer vision and robot control, A multi-mobile-robot scheduling system design method based on multiple sensors comprises the following steps: (1) constructing a plurality of mobile robot platforms; (2) constructing a two-dimensional experiment scene map and realizing wireless communication of a plurality of mobile robots; (3) designing a global path plan; (4) allocating design tasks; (5) designing multi-mobile-robot collision prevention strategy; and (6) developing multi-mobile-robot scheduling platform software. The multi-mobile-robot scheduling system design method has the following advantages that 1, a trackless autonomous navigation mode is adopted, so that the free moving range of the robot is expanded; 2, distributed control is adopted for multiple robots, so that the dynamic coordination and stability of the whole dispatching system are improved; and 3, the laser radar and the depth real-time camera sensor are used for identifying and detecting the surrounding environment of the robot at the same time, so that the safety of the robot in the whole task execution process is improved.

Description

technical field [0001] The invention relates to a multi-sensor based multi-mobile robot dispatching system design method, which belongs to the field of computer vision technology and robot control technology. Background technique [0002] In recent years, with the rapid development of wireless network, computer vision, autonomous navigation, SLAM and other technologies, as well as the improvement of hardware performance such as CPU and sensors, the field of robotics has a broader development prospect. Compared with the past, the recognition accuracy of the current robot to the surrounding environment is getting higher and higher, and the ability to process various data is also getting stronger and stronger. It is constantly developing in a more intelligent direction and has begun to be applied to various field. From service robots in the service industry to autonomous sorting and handling robots in the logistics industry, intelligent robots are everywhere. However, with th...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/0234G05D1/0246G05D1/0257G05D1/0291
Inventor 王东刘斌祺朱理连捷于连波
Owner DALIAN UNIV OF TECH
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