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A method and system for human-multi-robot shared control based on brain-computer interface

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

Active Publication Date: 2021-11-26
NAT UNIV OF DEFENSE TECH
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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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  • A method and system for human-multi-robot shared control based on brain-computer interface
  • A method and system for human-multi-robot shared control based on brain-computer interface
  • A method and system for human-multi-robot shared control based on brain-computer interface

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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 human-multi-robot shared control method and system based on a brain-computer interface. The method of the invention includes each robot generating a single-robot strategy, specifying a node to fuse the single-robot strategy to obtain a recommended strategy; the client side to judge and control Whether the recommender approves the recommended strategy, if not, obtains the human strategy; after the designated node obtains the inconsistent human strategy, it reintegrates the human strategy and the single robot strategy, so that it can eliminate the differences and obtain a unified final strategy and implement the final strategy. The present invention is applicable to heterogeneous distributed multi-robot control problems in complex multi-scenario environments. Human strategies can fully reflect the operator's intentions, reduce the burden on the human operator in shared control, and give full play to the strengths and advantages of humans in overall planning. The advantages of multi-robot systems in performing tasks obtain more reasonable policy choices than individual decision-making.

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 Patents(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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