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Brain-computer interface based method and system for human-multirobot shared control

A multi-robot and brain-computer interface technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of inability to obtain multi-robot strategies and different single-robot strategies, and achieve the effect of reasonable strategy selection and reduced burden

Active Publication Date: 2020-10-23
NAT UNIV OF DEFENSE TECH
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  • Claims
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is: in a typical distributed multi-robot system, the robots participating in the execution of the task have unavoidable measurement errors or aging failures due to the onboard sensors, or the communication delay between the robots is slow. It may lead to different strategies generated by a single robot, so that a consistent and correct multi-robot strategy cannot be obtained

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  • Brain-computer interface based method and system for human-multirobot shared control
  • Brain-computer interface based method and system for human-multirobot shared control
  • Brain-computer interface based method and system for human-multirobot shared control

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Embodiment Construction

[0042] Such as figure 1 As shown, the implementation steps of the brain-computer interface-based human-multi-robot shared control method in this embodiment include:

[0043] 1) Each robot in the multi-robot system obtains a different single-robot strategy based on the world model maintained by itself, and submits it to a designated node in the multi-robot system, which is a robot (a distributed multi-robot system does not have a management terminal, Each single robot is processed independently) or management terminal (control terminal of centralized multi-robot system);

[0044] 2) Designate the node to fuse the single robot strategy to eliminate differences and get a unified recommendation strategy and push it to the client;

[0045] 3) The client judges whether the operator approves the recommended strategy based on the brain-computer interface. If approved, accept the recommended strategy as the final strategy and skip to step 6), otherwise execute step 4);

[0046] 4) Th...

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Abstract

The invention discloses a brain computer interface based method and system for human-multirobot shared control. The method comprises the steps that a single robot strategy is generated by each robot,strategy fusion is conducted on single robot strategies at a specified node, and a recommended strategy is acquired; it is judged by the client side that whether the recommended strategy is approved by a manipulator or not, and if not, a human strategy is acquired; after an inconsistent human strategy is acquired at a specified node, refusion is conducted on the human strategy and single robot strategies so that disagreements are resolved, a unified ultimate strategy is acquired, and the ultimate strategy is performed. The method can be applicable to the heterogeneous distributed type multirobot control problem in a multi-scene complicated environment, intention of the manipulator can be fully embodied by the human strategy, burden of the human manipulator in shared control can be alleviated, strengths in the overall planning aspect of humans and advantages of a multirobot system in performing a task are brought into play, and a more reasonable strategy choice than the time when decisions are made individually is acquired

Description

technical field [0001] The invention relates to the control technology of a distributed multi-robot system, in particular to a method and system for sharing control of a human-multi-robot based on a brain-computer interface. Background technique [0002] With the gradual increase in the complexity of the execution environment and tasks, distributed multi-robot systems are widely used due to their many advantages compared with single-robot systems, but at the same time it also brings inevitable new problems. Due to the measurement error of the robot’s onboard sensor or the aging failure caused by long-term operation, or the communication delay in the complex environment, there will be differences in the strategy selection of a single robot, and it is difficult to obtain a consistent and correct multi-robot strategy. In highly dynamic, highly confrontational and fully distributed multi-robot application scenarios, the direct consequences of inconsistencies or errors in multi-r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/16B25J9/161B25J13/00
Inventor 代维刘亚茹卢惠民肖军浩曾志文周宗潭
Owner NAT UNIV OF DEFENSE TECH
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