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Active shared projection plane sensing system and method for desktop cluster robots

A perception system and robot technology, applied in the direction of using projection device image reproducer, instrument, picture duplicator, etc., can solve the problems of difficult sudden factors, insufficient fault tolerance of central control method, etc., and achieve the effect of improving portability

Active Publication Date: 2021-04-02
NORTHWESTERN POLYTECHNICAL UNIV
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  • Description
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AI Technical Summary

Problems solved by technology

The traditional central control method uniformly plans the behavior of all robots. When the scale of collaborative robots is large, the fault tolerance of the central control method is insufficient, and it is difficult to respond to unexpected factors in a timely manner.

Method used

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  • Active shared projection plane sensing system and method for desktop cluster robots
  • Active shared projection plane sensing system and method for desktop cluster robots
  • Active shared projection plane sensing system and method for desktop cluster robots

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specific Embodiment approach

[0062] figure 1 It is the structural diagram of the active shared projection surface perception system of desktop cluster robots. The system includes CMOS visual sensor module, RGB spotlight module, micro processing unit, MicroSD card storage module, 2.4g wireless communication module, and power supply module. The CMOS vision sensor module adopts OV2640. OV2640 is a 1 / 4 inch CMOS UXGA (1632*1232) image sensor with a maximum frame rate of 15 frames per second. It exchanges data with the micro CPU through the DCMI interface. The RGB spotlight module is composed of RGB spotlights and a marked transparent plate. The outer contour of the sign is composed of an isosceles triangle with a height-to-base ratio of 3:2. Inside, a circle is placed at the centroid of the isosceles triangle. The RGB spotlight module Different colors of are used to represent different types of individuals. The micro processing unit adopts the Embedded chip as the core, the operating frequency is up to 480...

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Abstract

The invention discloses an active sharing projection plane sensing system and method for desktop cluster robots. The system comprises a CMOS visual sensor module, an RGB spotlight module, a micro processing unit, a MicroSD card storage module, a 2.4 g wireless communication module and a power supply module. The system is based on a visual sensing technology, and a robot individual firstly emits RGB spotlight marks to a top projection surface, captures top image information by utilizing a visual sensor, recognizes positions and pointed directions of all marks on the image information, calculates relative positions and relative heading directions of neighbors relative to the robot individual, and stores the relative positions and the relative heading directions into a memory. According to the invention, the robot only needs to carry the cheap camera module and the laser emitter, the state information of the robot and the motion state information of the surrounding neighbors can be actively shared, and the mobility of a clustering algorithm to a machine cluster can be improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an environment perception system and method. Background technique [0002] Robot technology is a high-tech integrated with computer, cybernetics, mechanism, information and sensor technology, artificial intelligence, bionics and other disciplines. In particular, multi-robot collaboration has become an effective way to improve the efficiency of solving complex tasks. The traditional central control method uniformly plans the behavior of all robots. When the scale of collaborative robots is large, the fault tolerance of the central control method is insufficient, and it is difficult to respond to unexpected factors in a timely manner. The rapid development of swarm robot research provides a feasible solution to the above difficulties. [0003] Swarm robots aim to emerge complex swarm behaviors through simple interaction rules between individuals, enabling multi-robot sy...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N9/31G06T7/73G06T7/66
CPCH04N9/3141H04N9/3179H04N9/3182G06T7/73G06T7/66G06T2207/10024
Inventor 彭星光郑志成周永建宋保维潘光李乐张福斌高剑张立川
Owner NORTHWESTERN POLYTECHNICAL UNIV
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