A distributed group control method, micro-control unit and control system for networked robots based on bilateral mechanism

Abstract

The present invention discloses a distributed cluster control method for networked robots based on a bilateral mechanism, which belongs to the field of control technology and comprises the following steps: S1: networking each robot, adding a bilateral mechanism to a grouping form without cyclic division, and designing a networked communication topology; S2: analyzing the kinematics and dynamics of multiple robots, and building a Lagrangian robot model; S3: designing an adaptive torque controller, and determining a distributed cluster control protocol; S4: transmitting the distributed cluster control protocol to the execution unit of each robot, and realizing the collaborative control effect of multiple robots through distributed local control.

Description

Technical Field

[0001] The present invention belongs to the field of control technology, and in particular relates to a distributed group control method, a micro-control unit and a control system of a networked robot based on a bilateral mechanism. Background Art

[0002] The Lagrangian dynamic equation can well simulate the dynamics of a type of industrial robot. New service robots represented by convalescent robots and rehabilitation robots are gradually entering the fields of medical health, elderly care and disability assistance. On the one hand, motion-assisted robots still face the lack of technical support in terms of humanized appearance and diversified functions. The solution to this problem is to develop a fully flexible robot mechanism and to give full play to the collaborative function of group robots. On the other hand, whether it is for motion guidance or rehabilitation training robots, the movements of the main trunk are complex and standardized, so the results of the collaboration should also be oriented towards the completion of complex human routine movements. Combining the two points mentioned above and considering that most of the human trunk movements have the characteristics of central symmetry, adding a bilateral mechanism to a multi-robot collaborative system with a cluster structure to achieve complex movements with central symmetry provides an effective solution for improving the service level of medical robots. Summary of the invention

[0003] In view of the problems and shortcomings in the prior art, the purpose of the present invention is to provide a distributed group control method, micro-control unit and control system of networked robots based on a bilateral mechanism.

[0004] To achieve the purpose of the invention, the technical solution adopted by the present invention is as follows:

[0005] A first aspect of the present invention provides a distributed group control method for networked robots based on a bilateral mechanism, comprising the following steps:

[0006] 1. A distributed group control method for networked robots based on a bilateral mechanism, characterized by comprising the following steps:

[0007] S1: Network each robot, add bilateral mechanism to the grouping form without cycle division, and design network communication topology;

[0008] S2: Analyze the kinematics and dynamics of multiple robots and establish high-order nonlinear Lagrangian equations

[0009]

[0010] in, are the generalized coordinates and generalized velocity, M i (q i )∈R n×nis a symmetric positive definite inertia matrix, which is only related to generalized coordinates. is the Coriolis and centrifugal force matrix, G i (q i )∈R n is a broadly powerful i ∈R n is the input moment vector;

[0011] For Lagrangian dynamics with uncertain parameters, there is a linear regression characteristic with respect to the constant parameters:

[0012]

[0013] in is the parameter uncertainty equation with respect to the constant parameter θ i The linear regression matrix, x, y is the space R n Any differentiable vector in ;

[0014] S3: Based on the networked communication topology designed in step S1 and the Lagrangian robot model built in step S2, an adaptive torque controller is designed and a distributed group control protocol is determined;

[0015] S4: The distributed clustering protocol is transmitted to the execution module of each robot, and the collaborative control effect of multiple robots is achieved through distributed local control.

[0016] Furthermore, the process of designing the networked communication topology in step S1 includes:

[0017] Assuming that the multi-robot system requires N robots to be divided into k groups to complete the system tasks, then its communication topology is yes The node set of yes The edge set of yes The edge weight set, Its index set; dividing into k groups is to Division satisfy: set up as well as Accordingly, the figure The adjacency matrix of Let its Laplace matrix be

[0018] Furthermore, for groups without cyclic partitioning, the graph The adjacency matrix and Laplacian matrix of have the intuitive characteristics of lower triangle:

[0019]

[0020] Also required:

[0021] Each Corresponding There is a spanning tree;

[0022] and There is a balance between the in-and-out degree, that is Yes A ij The eigenvector of that belongs to the simple eigenvalue 0.

[0023] Furthermore, for the communication topology that adds the bilateral mechanism, it is required that:

[0024] Each Corresponding There is a spanning tree;

[0025] Each Corresponding It is structurally balanced, that is, there is a correction matrix So that Φ j A jj Φ j The elements of are non-negative;

[0026] and There is a balance between the in-and-out structure, that is, for the above correction matrix (the source of the reference is unclear), is Φ i A ij Φ j The eigenvector of that belongs to the simple eigenvalue 0.

[0027] Furthermore, the process of determining the distributed group control protocol in step S3 includes:

[0028] First, for robot i, the sliding mode vector is given

[0029] Then use the integral sliding mode vector to define the reference speed, where α i is the coupling constant coefficient;

[0030] Determine the error vector (auxiliary velocity vector) as

[0031] Finally, the group control protocol obeyed by the i-th robot is given Among them, K i is a symmetric positive definite matrix, is a constant parameter vector θ i The estimated value of and satisfies the adaptive law:

[0032]

[0033] Here Δ i is a symmetric positive definite coupling matrix, is the dynamic equation with respect to the constant parameter vector θ i The regression matrix.

[0034] A second aspect of the present invention provides a universal micro control unit carrying an adaptive torque control protocol or program capable of executing the above control method.

[0035] The third part of the present invention provides a networked robot distributed cluster control system based on a bilateral mechanism, including multiple mobile robots, a data processing module, a communication module, a control module and an execution module; each mobile robot includes a power supply unit, a communication unit, a data collection unit, a control unit and an execution unit; a micro-control unit is provided in the control unit; the data processing unit transmits the collected information to the control unit; the control unit converts the control protocol into a control language readable by the execution unit and transmits it to the execution unit, and the execution unit controls the autonomous movement and coordinated cooperation of multiple mobile robots according to the instructions of the control information, and executes the control method described in the first aspect.

[0036] Furthermore, the data processing module is composed of the data processing units of each robot and a host data reader. The host data reader is independent of the multiple robots and acts as a remote end to analyze the system according to the scenario; the communication module is composed of the communication units of each robot and adopts local area network communication and wireless network communication methods to achieve the goal of distributed collaboration.

[0037] Furthermore, the data processing unit includes an inertial transmitter, which is mounted on the mobile robot to obtain real-time position information and posture information of the mobile robot; the execution unit is configured with an encoder to obtain the speed information of the motor in real time.

[0038] The fourth aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, it implements any step of the distributed group control method of networked robots based on the bilateral mechanism described in the first aspect of the present invention.

[0039] A fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, implements any step in the method for distributed cluster control of networked robots based on a bilateral mechanism according to the first aspect of the present invention.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention provides a distributed cluster control method based on a bilateral mechanism for the application of a multi-robot system in multiple complex tasks, involving nonlinear robots, bilateral topological communication, distributed control, consistency algorithms and cluster collaboration.

[0042] Compared with the multi-robot system of general linear system, Lagrangian robot can realize high-degree-of-freedom movement and complete more precise work. In terms of determining the communication structure, compared with the unilateral non-division structure, the method of non-cyclic division and grouping of multiple Lagrangian robots based on bilateral mechanism can be more adaptable to the complexity of multi-objective tasks. Therefore, bilateral communication topology has more advantages in reducing system calculation amount and information redundancy.

[0043] Compared with the integrated mode, the distributed control method can better meet the needs of modern application scenarios such as long-distance communication and large-scale robots. Torque control, as the main control method of Lagrangian robots, is a direct control quantity in the control problem, so it can better reduce system deviations.

[0044] The consistency algorithm adopted by the present invention has the advantage of being highly adjustable, and cluster collaboration is also a major completion mode for complex and diverse tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The communication topology diagram of Example 1;

[0046] Figure 2 This is a first coordinate position change diagram of Example 1;

[0047] Figure 3 The second coordinate position change diagram of Example 1;

[0048] Figure 4 This is a first coordinate speed variation diagram of Example 1;

[0049] Figure 5 The second coordinate speed variation diagram of Example 1;

[0050] Figure 6 The communication topology diagram of Example 2;

[0051] Figure 7 This is a first coordinate position change diagram of Example 2;

[0052] Figure 8 The second coordinate position change diagram of Example 2;

[0053] Fig. 9 This is a first coordinate speed variation diagram of Example 2;

[0054] Fig.10This is the second coordinate speed change diagram of Example 2. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with specific embodiments.

[0056] Embodiment 1:

[0057] A distributed group control method for networked robots based on a bilateral mechanism comprises the following steps:

[0058] S1: Figure 1 As shown in Figure 2, assuming that the multi-robot system requires 7 robots to be divided into 3 groups to complete the system task, then The communication topology diagram corresponding to the networked system consisting of 7 robots, yes The node set of yes The edge set of yes The edge weight set of Its index set; divided into 3 groups is the graph The partition ν = {ν1, ν2, ν3} satisfies: Accordingly, the figure Its Laplace matrix is

[0059]

[0060] In addition, upon request:

[0061] Each Corresponding There is a spanning tree;

[0062] and There is a balance between the in-and-out degree, that is Yes A ij The eigenvector of belongs to the simple eigenvalue 0;

[0063] For the communication topology with bilateral mechanism, it should be required that:

[0064] Each Corresponding There is a spanning tree;

[0065] Each Corresponding is structurally balanced, that is, there exists a correction matrix Φ1=diag(1,-1), Φ2=diag(1,-1), Φ3=diag(1,-1,-1), such that Φ j A jj Φj , j = 1, 2, 3. The elements are non-negative;

[0066] and The in-and-out structure is balanced, that is, for the above correction matrix Φ1 = diag(1, -1), Φ2 = diag(1, -1), Φ3 = diag(1, -1, -1), is Φ i A ij Φ j The eigenvector of that belongs to the simple eigenvalue 0.

[0067] S2: Analyze the kinematics and dynamics of the seven robots and establish a high-order nonlinear Lagrangian model

[0068]

[0069]

[0070]

[0071] Where g = 9.8 m / s 2 , other parameters are shown in Table 1:

[0072] Table 1

[0073]

[0074] S3: First, for robot i, the sliding mode vector is given

[0075] Then use the integral sliding mode vector to define the reference speed, where α i is the coupling constant coefficient;

[0076] Determine the error vector (auxiliary velocity vector) as

[0077] Finally, the group control protocol obeyed by the i-th robot is given Among them, K i =22diag{2.3,1.5}, is a constant parameter vector θ i The estimated value of and satisfies the adaptive law:

[0078]

[0079] Here i =10I2, is the dynamic equation with respect to the constant parameter vector θ i The regression matrix.

[0080] S4: The distributed clustering protocol is transmitted to the execution module of each robot, and the collaborative control effect of multiple robots is achieved through distributed local control.

[0081] Figure 2-Figure 5 The first coordinate position change diagram, the second coordinate position change diagram, the first coordinate speed change diagram and the second coordinate speed change diagram of this embodiment are shown in sequence. It can be seen from the figure that the positions of the first group, the second group and the third group have reached a consensus between the two parties; the speeds all converge to zero.

[0082] Embodiment 2:

[0083] A distributed group control method for networked robots based on a bilateral mechanism comprises the following steps:

[0084] S1: Figure 6 As shown in Figure 2, assuming that the multi-robot system requires 7 robots to be divided into 3 groups to complete the system task, then The communication topology diagram corresponding to the networked system consisting of 7 robots, yes The node set of yes The edge set of yes The edge weight set, Its index set; divided into 3 groups is the graph Division satisfy: Setting K i =22diag{2.3,1.5},Λ i =10I2,…,7,i=1,2,…,7;

[0085] For packets without cyclic partitioning, the graph The Laplace matrix of is:

[0086]

[0087] Also required:

[0088] Each Corresponding There is a spanning tree;

[0089] and There is a balance between the in-and-out degree, that is Yes A ij The eigenvector of belongs to the simple eigenvalue 0;

[0090] For the communication topology with bilateral mechanism, the following requirements are required:

[0091] Each Corresponding There is a spanning tree;

[0092] Each Corresponding is structurally balanced, that is, there exists a correction matrix Φ1=diag(1,-1), Φ2=diag(1,-1), Φ3=diag(1,-1,-1), such that Φ j A jj Φ j The elements of are non-negative;

[0093] and The in-and-out structure is balanced, that is, for the correction matrix Φ1=diag(1,-1), Φ2=diag(1,-1), Φ3=diag(1,-1,-1), is Φ i A ij Φ j The eigenvector of that belongs to the simple eigenvalue 0.

[0094] The contents of S2, S3 and S4 are the same as those of Example 1.

[0095] Figure 7-10 The first coordinate position change diagram, the second coordinate position change diagram, the first coordinate speed change diagram, and the second coordinate speed change diagram of this embodiment are shown in sequence. It can be seen from the figure that in terms of position, the first group and the third group reached a consensus, and the second group reached a complete consensus; the speed converged to zero as a whole.

[0096] Embodiment 3:

[0097] A networked robot swarm control system based on a bilateral mechanism, comprising a plurality of mobile robots, a data processing module, a communication module, an execution module and a control module; each mobile robot comprises a power supply unit, a communication unit, a data processing unit, a control unit and an execution unit; the control unit is provided with a micro-control unit;

[0098] The data processing module is composed of a data processing unit of each robot and a host data reader, which is used to complete data collection and conversion. The host reader is independent of the multiple robots and acts as a remote end to analyze the system according to the scene. The data processing unit includes an inertial transmitter, which is mounted on the mobile robot to obtain the real-time position information and posture information of the mobile robot.

[0099] The communication module is composed of the communication units of each robot, and adopts the methods of local area network communication and wireless network communication to achieve the goal of distributed collaboration; the communication module carries the overall network connection and information exchange authority of the control system of this embodiment. The overall network connection form and the open authority of each information channel should correspond to the edge set of the communication topology one by one, where the output of information is determined according to the size and sign of the weight set. For the information at time t that has been parsed by the data module, the communication module embeds it into the control module in a distributed manner.

[0100] The control module is composed of control units of each robot;

[0101] The execution module is composed of the execution units of each robot; the main execution unit of the execution module is set on each robot, that is, each motion joint of the robot; the execution unit is equipped with an encoder, which can obtain the speed information of the motor in real time. Each execution unit is connected to the communication unit through a control unit. The control unit on each robot inputs the current information at time t into the control protocol, and then outputs the control torque at time t. Each execution unit gives the corresponding torque accordingly, and achieves the overall collaborative control effect through distributed local control.

[0102] Example 4

[0103] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements any step in a networked robot distributed group control method based on a bilateral mechanism as described in Example 1 or 2.

[0104] Further, the process of the networked robot distributed group control method based on the bilateral mechanism described in Embodiment 1 or 2 can be implemented as a computer software program. For example, this embodiment includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method. In such an embodiment, the computer program can be downloaded and installed from the network, and / or installed from a removable medium. When the computer program is executed by the processor, the above functions defined in the method of the present application are executed.

[0105] Example 5

[0106] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any step in a method for distributed cluster control of networked robots based on a bilateral mechanism as described in Example 1 or 2.

[0107] The computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0108] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0109] In summary, the present invention effectively overcomes the deficiencies in the prior art and has a high industrial utilization value. The above embodiments serve to illustrate the substantive content of the present invention, but do not limit the protection scope of the present invention. Those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and protection scope of the technical solution of the present invention.

Claims

1. A distributed group control method for networked robots based on a bilateral mechanism, characterized in that: The following steps are involved: S1: Network each robot, add bilateral mechanism to the grouping form without cycle division, and design network communication topology; S2: Analyze the kinematics and dynamics of multiple robots and establish high-order nonlinear Lagrangian models in, are the generalized coordinates and generalized velocity, M i (q i )∈R n×n is a symmetric positive definite inertia matrix, which is only related to generalized coordinates. is the Coriolis and centrifugal force matrix, G i (q i )∈R n is a broadly powerful i ∈R n is the input moment vector; For Lagrangian dynamics with uncertain parameters, there is a linear regression characteristic with respect to the constant parameters: in is the parameter uncertainty equation with respect to the constant parameter θ i The linear regression matrix, x, y is the space R n Any differentiable vector in ; S3: Based on the networked communication topology designed in step S1 and the Lagrangian robot model built in step S2, an adaptive torque controller is designed and a distributed group control protocol is determined; S4: Deliver the distributed group control protocol to the execution unit of each robot, and achieve the collaborative control effect of multiple robots through distributed local control; The process of designing the networked communication topology in step S2 includes: Assuming that the multi-robot system requires N The robots are divided into k The group completes the system task, then set The communication topology diagram of the networked system consisting of N robots, yes The node set of yes The edge set of yes The edge weight set, For its index set; k Group is a pair of Division satisfy: set up as well as Accordingly, the figure The adjacency matrix of Let its Laplace matrix be For packets without cyclic partitioning, the graph The adjacency matrix and Laplacian matrix of have the intuitive characteristics of lower triangle: Also required: Each Corresponding There is a spanning tree; and There is a balance between the in-and-out degree, that is yes The simple eigenvalue 0 The eigenvector of For the communication topology with bilateral mechanism, the following requirements are required: Each Corresponding There is a spanning tree; Each Corresponding It is structurally balanced, that is, there is a correction matrix So that Φ j A jj Φ j The elements of are non-negative; and The in-and-out structure is balanced, that is, based on the correction matrix is Φ i A ij Φ j The eigenvector of that belongs to the simple eigenvalue 0.

2. The control method according to claim 1, characterized in that: The process of determining the distributed group control protocol in step S3 includes: First, for robots i Given the sliding mode vector Then use the integral sliding mode vector to define the reference speed, where α i is the coupling constant coefficient; Determine the error vector as Finally, the group control protocol obeyed by the i-th robot is given Among them, K i is a symmetric positive definite matrix, is a constant parameter vector θ i The estimated value of and satisfies the adaptive law: Here Δ i is a symmetric positive definite coupling matrix, is the dynamic equation with respect to the constant parameter vector θ i The regression matrix.

3. A universal micro control unit, characterized in that: An adaptive torque control protocol or program capable of executing the control method described in claim 1 or 2 is contained.

4. A networked robot distributed cluster control system based on a bilateral mechanism, characterized in that: It includes multiple mobile robots, a data processing module, a communication module, a control module and an execution module; each mobile robot includes a power supply unit, a communication unit, a data processing unit, a control unit and an execution unit; the control unit is provided with a micro control unit as claimed in claim 3; the data processing unit transmits the collected information to the control unit; the control unit converts the control protocol into a control language readable by the execution unit and transmits it to the execution unit, and the execution unit controls the autonomous movement and coordinated cooperation of the multiple mobile robots according to the instructions of the control information, and executes the control method as claimed in claim 1 or 2.

5. The control system according to claim 4, characterized in that: The data processing module is composed of the data processing units of each robot and a host data reader. The host data reader is independent of the multiple robots and acts as a remote end to analyze the system according to the scenario; the communication module is composed of the communication units of each robot and adopts local area network communication and wireless network communication methods to achieve the goal of distributed collaboration.

6. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, it implements any step in the networked robot distributed group control method based on the bilateral mechanism as described in any one of claims 1 or 2.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a computer processor, it implements any step in the networked robot distributed group control method based on the bilateral mechanism as described in any one of claims 1 or 2.

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