A multi-node robot control method

Abstract

This invention relates to the field of robot control technology, and provides a multi-node robot control method applied to multi-node robots. The method includes: when the master node is the main control node, the master node sends data packets to other nodes at preset time intervals; other nodes respond to the data packets and send running data and confirmation information to the master node; the master node sends the running data and confirmation information to a processing center; the processing center generates communication fault information and running fault information, as well as target pose data, switches the master control node and / or generates a control scheme, and sends it to a backup master node; the backup master node forwards the target pose data and control scheme to control the operation of the multi-node robot. The beneficial effects of this invention are: utilizing data packets and confirmation information for communication confirmation effectively increases communication efficiency; and automatically switching the master control unit based on fault information effectively increases the operating efficiency of the multi-node robot.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and more specifically, to a multi-node robot control method. Background Technology

[0002] Multi-node robots can navigate complex terrains, overcome obstacles, climb, and pass through narrow areas such as pipes and gaps to achieve various objectives such as reconnaissance, rescue, and communication establishment. Multi-node robots offer advantages such as easily adjustable structure, good scalability, and high system redundancy and reliability. However, due to the large number of nodes, controlling the various nodes presents a complex challenge, including the large-scale data transmission, coordination, and synchronization between them. Therefore, achieving effective control among multiple nodes is a primary concern.

[0003] Currently, distributed control (DC) and bus control schemes are commonly used to control multi-node robots. DC uses proprietary communication protocols, requiring custom design of multi-node communication mechanisms. While offering greater flexibility, the complex design of multi-node communication protocols makes them prone to communication congestion. Bus control, on the other hand, connects components such as sensors and controllers via a bus, transmitting data through bus protocols, with a central controller controlling each node, thus solving the multi-node communication problem. However, for multi-node robots like snake robots, each node needs adjustment, assembly, and configuration according to task requirements to adapt to different terrains and environments—that is, adding or deleting nodes. Adding nodes requires complex call and response mechanisms to ensure they are installed on the bus, making operation complex. Furthermore, snake robots often designate the end node as the master node to control the others; however, if the master node fails and loses connection, the robot stops operating, requiring repair or reconfiguration to resume normal operation, reducing operational efficiency. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the operational efficiency of multi-node robots.

[0005] To address the above problems, this invention provides a multi-node robot control method applied to a multi-node robot. The multi-node robot includes a master node, ordinary nodes, and a backup master node connected sequentially. The master node and the backup master node are respectively connected to a processing center. The multi-node robot control method includes:

[0006] When the master node is the master control node, the master node sends data packets to the ordinary node and the backup master node at preset intervals;

[0007] The ordinary node and the backup master node respond to the data packet and send running data and confirmation information to the master node;

[0008] The master node sends the received running data, the confirmation information, and its own running data to the processing center;

[0009] The processing center obtains communication fault information and operation fault information based on the operation data and the confirmation information, and generates target pose data. Based on the communication fault information, it switches the master control node from the master node to the backup master node, and changes the master node to the normal node. And / or generates a control plan based on the operation fault information, and sends the target pose data and the control plan to the backup master node.

[0010] The backup master node receives the target pose data and the control scheme, and sends the target pose data and the control scheme to the ordinary node to control the operation of the multi-node robot.

[0011] In this invention, a master node, ordinary nodes, and a backup master node are configured. A backup node is set up for the master control node, meaning both the master node and the backup master node can act as the master control node. When the master node fails as the master control node, the backup master node can operate as the master control node. High-performance computing control functions are only configured on the master node and the backup master node. Compared to multi-node robots where each node communicates and controls the processing center, this effectively reduces production and operating costs. When the master node is the master control node, it sends data packets to other nodes at preset intervals. Each node responds to the data packets and sends operating data and confirmation information to the master node, enabling real-time acquisition and monitoring of the operating status of each node. This avoids damage to the multi-node robot due to untimely information acquisition, such as collisions. Communication and confirmation are only conducted through data packets and confirmation information, significantly increasing communication efficiency compared to the complex call and response mechanisms in existing technologies. The master node integrates and processes the received operating data, confirmation information, and its own operating data before sending it to the processing center for processing, increasing data processing efficiency. The processing center obtains fault information and generates target pose data based on operational data and confirmation information. Based on communication fault information, it switches the master control node from the primary node to the backup master node and changes the primary node to a regular node, achieving automatic switching of the master control node, avoiding manual switching, reducing maintenance frequency, and increasing operational efficiency. A control plan is generated based on the operational fault information, and the target pose data and control plan are sent to the backup master node for distributed processing of multiple data sets. The backup master node sends the target pose data and control plan to regular nodes to control the multi-node robot to operate with adjusted data, such as pose data, improving the operational reliability of the multi-node robot.

[0012] Optionally, the step of switching the master node from the master node to the backup master node based on the communication failure information, and changing the master node to the ordinary node, includes:

[0013] If the processing center does not receive the confirmation information within the target time, it determines that the master node is out of contact and switches the master node from the master node to the backup master node.

[0014] Optionally, after the master node sends data packets to the ordinary node and the backup master node at preset intervals, the method further includes:

[0015] If the backup master node fails to acquire the data packet within the target time, it sends a disconnection confirmation request to the ordinary node and changes itself to the master node based on the ordinary node's response to the disconnection confirmation request.

[0016] Optionally, the multi-node robot control method further includes:

[0017] The ordinary node determines the status of the data packets acquired within the target time based on the disconnection confirmation request. If the data packets are not acquired within the target time, the node sends a disconnection confirmation message to the backup master node.

[0018] The backup master node changes itself to the master control node based on the confirmed loss of connection information;

[0019] If the master node does not receive the confirmation information within the target time, it will change itself into the ordinary node.

[0020] Optionally, there are multiple ordinary nodes, and each ordinary node is assigned a number; the ordinary nodes and the backup master node respond to the data packet and send running data and confirmation information to the master node, including:

[0021] In response to the data packet sent by the master node, the ordinary node sends the running data with the corresponding number and the confirmation information to the master node.

[0022] Optionally, the master node sends the received running data, the confirmation information, and its own running data to the processing center, including:

[0023] Compare the number of confirmed messages obtained with the number of ordinary nodes;

[0024] If the number of confirmed messages obtained is less than the number of ordinary nodes, then the ordinary nodes that have not sent the confirmed messages are selected based on the number.

[0025] The ordinary node that did not send the confirmation information is identified as a lost node, and the number information of the lost node is sent to the processing center.

[0026] Optionally, the processing center includes a display screen and an alarm; the multi-node robot control method further includes:

[0027] The processing center generates a model of the multi-node robot based on the master node, the ordinary node, and the backup master node, and displays the model on the display screen.

[0028] In response to the identification information of the lost nodes, the processing center marks the lost nodes on the model and counts the number of lost nodes.

[0029] When the number of disconnected nodes is greater than or equal to a preset number, the processing center controls the alarm to sound.

[0030] Optionally, the processing center includes multiple fault detection units and voting units, with the fault detection units connected to the voting units; the processing center obtains communication fault information and operational fault information based on the operating data and the confirmation information, including:

[0031] Each fault detection unit acquires the confirmation information and the operation data within a target time period, generates multiple communication fault results and multiple operation fault results based on the confirmation information and the operation data, and sends them to the voting unit;

[0032] The voting unit generates communication failure information and operation failure information based on multiple communication failure results and operation failure results. If multiple communication failure results are the same, the communication failure information is generated. If multiple operation failure results are the same, the operation failure information is generated.

[0033] Optionally, the operational data includes initial pose data. Attitude sensors are installed on the ordinary nodes, the master node, and the backup master node. These attitude sensors are used to acquire the initial pose data during the operation of each node. Sensing sensors are also installed on the master node and the backup master node. These sensing sensors are used to acquire sensing data during the operation of the master node and the backup master node. The processing center includes a processing unit connected to the voting unit. The step of generating an operational control plan based on the operational fault information includes:

[0034] The processing unit responds to the operational fault information generated by the voting unit, obtains the initial pose data of the corresponding node, and determines the operational fault level based on the initial pose data and the operational pose standard.

[0035] The operational fault levels include a first fault level and a second fault level.

[0036] When the initial pose data is greater than or equal to the running pose standard, it is determined to be the first fault level, and a first control scheme is generated. The first control scheme includes shutting down and locking the corresponding node.

[0037] When the initial pose data is less than the running pose standard, it is determined to be the second fault level. A second control scheme is generated based on the target pose data and the initial pose data. The second control scheme includes adjustment data of the initial pose data of the corresponding node generated based on the target pose data, wherein the target pose data is obtained based on the perception data.

[0038] Optionally, the operating data includes the operating data of the drive unit; the step of generating an operating control plan based on the operating fault information includes:

[0039] In response to the operational fault information generated by the voting unit, the processing unit obtains the operational data of the driving unit of the corresponding node, and determines the operational fault level based on the operational data of the driving unit and the driving unit operational standards.

[0040] The drive unit operating standards include a stall standard and a maximum operating standard, and the operating fault levels include a third fault level and a fourth fault level.

[0041] When the operating data of the drive unit is equal to the stall standard, it is determined to be the third fault level, and a third control scheme is generated. The third control scheme includes locking the motor of the corresponding node.

[0042] When the operating data of the drive unit is greater than or equal to the maximum operating standard and less than the stall standard, it is determined to be the fourth fault level, and a fourth control scheme is generated. The fourth control scheme includes adjusting the operating data of the drive unit of the corresponding node to be below the maximum operating standard. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating the multi-node robot control method according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of a multi-node robot according to an embodiment of the present invention. Figure 1 ;

[0045] Figure 3 This is a schematic diagram of the structure of a multi-node robot according to an embodiment of the present invention. Figure 2 ;

[0046] Figure 4 This is a schematic diagram of the processing center in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the process for fault detection in the processing center according to an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram illustrating the automatic switching process of the master control node according to an embodiment of the present invention. Detailed Implementation

[0049] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] In the description of the embodiments in this application, the term "some embodiments" means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same implementation or instance. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0051] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0052] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0053] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0054] It is understood that any part of this application concerning data acquisition or collection is authorized by the user.

[0055] like Figure 1As shown, this invention provides a multi-node robot control method, applicable to, for example... Figure 2 The snake-like robot shown is a multi-node robot comprising a master node, ordinary nodes, and a backup master node connected sequentially. The first node at one end of the snake-like robot is the master node, also called the head node, and the first node at the other end is the backup master node, also called the tail node. During operation, the robot moves in a snake-like pattern, with the head node or tail node leading the movement. The master node and the backup master node are respectively connected to a processing center. Each node includes a drive unit and sensors. The processing center is responsible for processing the feedback data. It should be noted that a master control node is required during the operation of the snake-like robot. This master control node is used to summarize and preprocess the operating posture and environment of each node and send them to the processing center, as well as respond to the posture information sent by the processing center and send it to other nodes to achieve the operation of the multi-node robot. The multi-node robot control method includes:

[0056] Step S1: When the master node is the master control node, the master node sends data packets to the ordinary node and the backup master node at preset intervals;

[0057] Specifically, the master control node is used to make the master node the main control node, that is, in the process of multi-node robot operation, the master node leads the serpentine movement, and the data packets sent to each node at preset intervals are the same. The preset time can be adjusted according to specific needs, and is usually short, such as 10ms, to ensure the real-time transmission of data packets.

[0058] Step S2: The ordinary node and the backup master node respond to the data packet and send running data and confirmation information to the master node;

[0059] Specifically, after receiving a data packet, a regular node replies to the master node with a confirmation message that the data packet has been received, in order to notify the head node that the communication between the node and the regular node is normal. It also sends actual operating data obtained from sensors to the head node to provide feedback on the operating status. The operating data can be the operating data of the motors of each node, the pose data, or other data that represent the robot's operating status at that node.

[0060] Step S3: The master node sends the received running data, the confirmation information, and its own running data to the processing center;

[0061] Specifically, the master node receives and summarizes the running data, confirmation information, and its own running data from each node, normalizes the various types of information, and sends them to the processing center for unified processing.

[0062] Step S4: The processing center obtains communication fault information and operation fault information and generates target pose data based on the operation data and the confirmation information. Based on the communication fault information, it switches the master control node from the master node to the backup master node and changes the master node to the ordinary node. And / or generates a control plan based on the operation fault information and sends the target pose data and the control plan to the backup master node.

[0063] Specifically, the processing center processes the data to determine if any nodes are faulty during operation and generates target pose data for future nodes to control the multi-node robot. During operation, since the master node (at this time, the main node) is the leading node, collisions or other situations may occur, causing damage to the master node and communication failures, i.e., the master node loses contact with other nodes and cannot send data packets or receive confirmation information. In this case, the master node cannot control other nodes and requires manual repair or replacement before operation can continue. To address this, this embodiment of the invention sets up a backup master node with the same structure and function as the main node. When the main node is the master node, the backup master node operates as a normal node. When the processing center determines that the master node (main node) has a communication failure, it switches the master node from the main node to the backup master node. At this time, the backup master node operates as the master node, and the main node operates as a normal node. When the processing center determines that there is an operational fault in the node's operating data, it generates a corresponding control plan based on the preset operating standards and returns it to the current master control node (standby master node) for data distribution.

[0064] Step S5: The backup master node receives the target pose data and the control scheme, and sends the target pose data and the control scheme to the ordinary node to control the operation of the multi-node robot.

[0065] Specifically, upon receiving the target pose data and control scheme, the target pose data and control scheme are distributed to the corresponding ordinary nodes. Each node adjusts itself based on the previously sent running data, according to the control scheme and pose data, and runs according to the adjusted data to achieve multi-node robot operation.

[0066] In this embodiment, a master node, ordinary nodes, and a backup master node are set up. A backup node is configured for the master control node, meaning both the master node and the backup master node can act as the master control node. When the master node fails as the master control node, the backup master node can operate as the master control node. High-performance computing control functions are only configured on the master node and the backup master node. Compared to multi-node robots where each node communicates and controls the processing center, this effectively reduces production and operating costs. When the master node is the master control node, it sends data packets to other nodes at preset intervals. Each node responds to the data packets and sends operating data and confirmation information to the master node, enabling real-time acquisition and monitoring of the operating status of each node. This avoids damage to the multi-node robot due to untimely information acquisition, such as collisions. Communication and confirmation are only conducted through data packets and confirmation information, significantly increasing communication efficiency compared to the complex call and response mechanisms in existing technologies. The master node integrates and processes the received operating data, confirmation information, and its own operating data before sending it to the processing center for processing, increasing data processing efficiency. The processing center obtains fault information and generates target pose data based on operational data and confirmation information. Based on communication fault information, it switches the master control node from the primary node to the backup master node and changes the primary node to a regular node, achieving automatic switching of the master control node, avoiding manual switching, reducing maintenance frequency, and increasing operational efficiency. A control plan is generated based on the operational fault information, and the target pose data and control plan are sent to the backup master node for distributed processing of multiple data sets. The backup master node sends the target pose data and control plan to regular nodes to control the multi-node robot to operate with adjusted data, such as pose data, improving the operational reliability of the multi-node robot.

[0067] Optionally, the step of switching the master node from the master node to the backup master node based on the communication failure information, and changing the master node to the ordinary node, includes:

[0068] If the processing center does not receive the confirmation information within the target time, it determines that the master node is out of contact and switches the master node from the master node to the backup master node.

[0069] Specifically, the target time is a time period. Within this time period, the head node sends data packets to other nodes at preset intervals. For example, if the target time is 1 second and the preset time is 10 ms, then if no acknowledgment information is received from the head node 100 times consecutively, the head node is considered to be out of contact. If acknowledgment information is received intermittently within the target time period, the communication is considered unstable to avoid misjudgment. After receiving acknowledgment information and running data, the head node forwards it to the processing center. If the processing center does not receive acknowledgment information, there are several possibilities, such as the main node losing contact with other nodes and not receiving acknowledgment information; the main node losing contact with the processing center and not sending data packets to other nodes; or the main node losing contact with the processing center and not sending acknowledgment information to the processing center. However, all of the above situations indicate that the main node has a communication failure and cannot perform information and data transmission (controlling other nodes). Therefore, if the main node is considered out of contact, the backup main node is switched to the main control node, or the main node is switched to a regular node to run the multi-node robot, realizing automatic switching of the main control node.

[0070] It should be noted that due to the operating characteristics of snake robots, the operation of the previous node can drive the operation of subsequent nodes, and the nodes are interconnected. Therefore, when some nodes in the snake robot cannot operate normally (for example, the main node malfunctions and cannot receive operating data and target pose data, so it cannot operate according to the control scheme and target pose data, and can only operate according to the operation of the previous node), it will not affect the normal operation of the snake robot. Therefore, marking the malfunctioning main node as a normal node or a failed node will not affect the normal operation of the snake robot.

[0071] Optionally, it also includes a method for automatically switching master nodes, such as... Figure 6 As shown, automatic switching of the master control node can be achieved solely through communication between the master node and the backup node, without the need for a processing center. Both methods can be used simultaneously for automatic master control node switching without interfering with each other. Multi-node robot control methods include:

[0072] If the backup master node fails to acquire the data packet within the target time, it sends a disconnection confirmation request to the ordinary node.

[0073] Specifically, when the master node acts as the master control node, the standby master node acts as a regular node and also receives data packets sent by the master node in real time. If the standby master node does not receive data packets within the target time, it assumes that the master node may be out of contact and sends a disconnection confirmation request to other regular nodes to determine whether the master node is out of contact.

[0074] The ordinary node determines the status of the data packets acquired within the target time based on the disconnection confirmation request. If the data packets are not acquired within the target time, the node sends a disconnection confirmation message to the backup master node.

[0075] Specifically, after receiving a disconnection confirmation request, a regular node counts the number of data packets it has received. If it has not received any data packets within the target time, it returns a confirmation of disconnection.

[0076] The backup master node changes itself to the master control node based on the confirmed loss of connection information;

[0077] Specifically, after receiving confirmation of disconnection from all ordinary nodes, if the master node is determined to be disconnected, an automatic switch of the master node is performed, switching the master node to a backup master node; if only confirmation of disconnection from some ordinary nodes is received, communication instability factors are considered, and a switch of the master node is performed.

[0078] If the master node does not receive the confirmation information within the target time, it will change itself into the ordinary node.

[0079] Specifically, if the master node does not receive an acknowledgment message within the target time, it will determine that it is out of contact and switch itself to run as a normal node.

[0080] Optionally, there are multiple ordinary nodes, and each ordinary node is assigned a number; the ordinary nodes and the backup master node respond to the data packet and send running data and confirmation information to the master node, including:

[0081] In response to the data packet sent by the master node, the ordinary node sends the running data with the corresponding number and the confirmation information to the master node.

[0082] Specifically, such as Figure 2 and Figure 3 As shown, snake-like robots typically use a large number of ordinary nodes. To facilitate the differentiation of faulty nodes, each node is numbered for identification. The operational data and confirmation information sent to the master node or backup master node also include numbered information. Figure 3 In the diagram, the first node at the top is the master node, the first node at the bottom is the backup master node, and the nodes connecting the master node and the backup master node are ordinary nodes.

[0083] Optionally, the master node sends the received running data, the confirmation information, and its own running data to the processing center, including:

[0084] Compare the number of confirmed messages obtained with the number of ordinary nodes;

[0085] If the number of confirmed messages obtained is less than the number of ordinary nodes, then the ordinary nodes that have not sent the confirmed messages are selected based on the number.

[0086] The ordinary node that did not send the confirmation information is identified as a lost node, and the number information of the lost node is sent to the processing center.

[0087] Specifically, if the master node can receive the confirmation information sent by the ordinary nodes, it means that the master node's communication is not faulty. Therefore, it can be understood that when the number of confirmation information received is less than the number of ordinary nodes, it means that the ordinary nodes that have not sent confirmation information have communication or operational faults. The ordinary nodes that have not sent confirmation information are identified by number, marked as out-of-connection nodes, and the corresponding number information is sent to the processing center for out-of-connection node statistics.

[0088] Optionally, the processing center includes a display screen and an alarm; the multi-node robot control method further includes:

[0089] The processing center generates a model of the multi-node robot based on the master node, the ordinary node, and the backup master node, and displays the model on the display screen.

[0090] Specifically, a snake robot model is generated based on the main node, ordinary nodes, and backup main nodes. Each node has a corresponding model structure, which is displayed on the screen to facilitate staff to monitor the operation of each node.

[0091] In response to the identification information of the lost nodes, the processing center marks the lost nodes on the model and counts the number of lost nodes.

[0092] Specifically, in response to the number information of the lost node sent by the master node, the corresponding node is marked on the model, for example, by highlighting it in red, to alert staff that the node is lost.

[0093] When the number of disconnected nodes is greater than or equal to a preset number, the processing center controls the alarm to sound.

[0094] Specifically, although the nodes of the snake-like robot are interconnected, it cannot operate normally when the number of faulty nodes is large. Therefore, a preset number is set (e.g., 6 out of 10 nodes) to ensure the normal operation of the snake-like robot. Additionally, when the number of disconnected nodes is a consecutive preset number (e.g., 4 out of 10 nodes), the interconnectedness of the nodes will not be enough to keep the snake-like robot running normally. When the snake-like robot malfunctions, an alarm is triggered to alert personnel to take action.

[0095] Optionally, the processing center includes multiple fault detection units and voting units, with the fault detection units connected to the voting units; the processing center obtains communication fault information and operational fault information based on the operating data and the confirmation information, including:

[0096] Each fault detection unit acquires the confirmation information and the operation data within a target time period, generates multiple communication fault results and multiple operation fault results based on the confirmation information and the operation data, and sends them to the voting unit;

[0097] The voting unit generates communication failure information and operation failure information based on multiple communication failure results and operation failure results. If multiple communication failure results are the same, the communication failure information is generated. If multiple operation failure results are the same, the operation failure information is generated.

[0098] Specifically, the processing center in this embodiment is as follows: Figure 4 As shown, it includes three fault detection units and one voting unit. After generating a fault result, the detection unit sends it to the voting unit. The voting unit votes on the three fault results. If the three fault results are the same, the corresponding fault information is generated. If they are different, it indicates that the fault detection result may be incorrect, and the system returns to the fault detection unit for re-detection. The specific process is as follows: Figure 5 As shown. This is to ensure the stability of fault detection in multi-node robots and avoid fault detection errors.

[0099] Optionally, the operational data includes initial pose data. Attitude sensors are installed on the ordinary node, the master node, and the backup master node. These attitude sensors acquire the initial pose data during operation of each node. Perception sensors are also installed on the master node and the backup master node. These perception sensors acquire perception data during operation of the master node and the backup master node. The perception sensors can be vision sensors, temperature sensors, humidity sensors, pressure sensors, light sensors, sound sensors, etc. The perception data includes visual data, temperature data, humidity data, pressure data, light data, sound data, etc. The processing center includes a processing unit connected to the voting unit. Generating an operational control plan based on the operational fault information includes:

[0100] The processing unit responds to the operational fault information generated by the voting unit, obtains the initial pose data of the corresponding node, and determines the operational fault level based on the initial pose data and the operational pose standard.

[0101] Specifically, the attitude sensor reads the acceleration, angular velocity, geomagnetic information, etc. of each node during operation and then fuses them to obtain the initial position and attitude data of that node. The operational fault level is determined based on the initial position and attitude data and the operational attitude standard. The operational attitude standard can be set according to the actual working environment of the multi-node robot. For example, the maximum angular twist between two nodes of the robot is 60°.

[0102] The operational fault levels include a first fault level and a second fault level.

[0103] When the initial pose data is greater than or equal to the running pose standard, it is determined to be the first fault level, and a first control scheme is generated. The first control scheme includes shutting down and locking the corresponding node.

[0104] Specifically, for example, if the initial pose data (the angle between the two nodes is 65°) is greater than the operating pose standard (the maximum angle between the two nodes of the robot is 60°), it indicates that the two nodes may be at risk of damage. In this case, the corresponding nodes will be powered off and locked. The linkage characteristic is used to ensure the normal operation of the snake robot and to prevent damage to the two nodes.

[0105] When the initial pose data is less than the running pose standard, it is determined to be the second fault level. A second control scheme is generated based on the target pose data and the initial pose data. The second control scheme includes adjustment data of the initial pose data of the corresponding node generated based on the target pose data, wherein the target pose data is obtained based on the perception data.

[0106] Specifically, the target pose data for the next time step is first generated based on the perception data to adjust the initial pose data of each node of the snake robot. For example, if the acquired initial pose data (the angle between two nodes is 50°) is less than the operating pose standard (the maximum angle between two nodes is 60°), it indicates that the two nodes are operating normally. Based on the target position data (the angle between two nodes is 55°), adjustment data (adjusting the angle between two nodes by 5°) is generated from the initial pose data (the angle between two nodes is 50°) to adjust each node.

[0107] Optionally, the operating data includes the operating data of the drive unit; the step of generating an operating control plan based on the operating fault information includes:

[0108] In response to the operational fault information generated by the voting unit, the processing unit obtains the operational data of the driving unit of the corresponding node, and determines the operational fault level based on the operational data of the driving unit and the driving unit operational standards.

[0109] The drive unit operating standards include a stall standard and a maximum operating standard, and the operating fault levels include a third fault level and a fourth fault level.

[0110] Specifically, the drive unit can be a motor, and the operating data of the drive unit includes current, speed, etc. The level of operation failure is determined based on the operating data and the operating standards of the drive unit. The operating standards of the drive unit are usually set as a stall standard and a maximum operating standard. For example, if the motor speed is 0 and the motor current exceeds the preset current standard, the drive unit is determined to be in a stall state. The drive unit operates normally at the maximum operating parameters for a period of time, and the maximum operating parameters are used as the maximum operating standard.

[0111] When the operating data of the drive unit is equal to the stall standard, it is determined to be the third fault level, and a third control scheme is generated. The third control scheme includes locking the motor of the corresponding node.

[0112] Specifically, for example, if the obtained operating data of the drive unit (motor speed is 0 and motor current exceeds the preset current standard) is equal to the operating standard of the drive unit (motor speed is 0 and motor current exceeds the preset current standard), it indicates that there is a stall fault in the node. In this case, the corresponding node will be shut down and locked, and the linkage characteristic will be used to ensure the normal operation of the snake robot.

[0113] When the operating data of the drive unit is greater than or equal to the maximum operating standard and less than the stall standard, it is determined to be the fourth fault level, and a fourth control scheme is generated. The fourth control scheme includes adjusting the operating data of the drive unit of the corresponding node to be below the maximum operating standard.

[0114] Specifically, for example, if the obtained operating data of the drive unit is greater than or equal to the maximum operating standard and less than the stall standard, it means that although the node is currently operating normally, if it continues to operate with the current operating data of the drive unit, the drive unit will malfunction. Therefore, the operating data of the drive unit should be adjusted. Adjustment data should be generated based on the maximum operating standard to adjust the operating data of the drive unit to below the maximum operating standard in order to adjust each node and ensure the normal operation of the multi-node robot.

[0115] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A multi-node robot control method, characterized by, A method for controlling a multi-node robot, comprising a master node, ordinary nodes, and a backup master node connected sequentially, wherein the master node and the backup master node are respectively connected to a processing center, includes: When the master node is the master control node, the master node sends data packets to the ordinary node and the backup master node at preset intervals; The ordinary node and the backup master node respond to the data packet and send running data and confirmation information to the master node; The master node sends the received running data, the confirmation information, and its own running data to the processing center; The processing center obtains communication fault information and operation fault information based on the operation data and the confirmation information, and generates target pose data. Based on the communication fault information, it switches the master control node from the master node to the backup master node, and changes the master node to the normal node. And / or generates a control plan based on the operation fault information, and sends the target pose data and the control plan to the backup master node. The backup master node receives the target pose data and the control scheme, and sends the target pose data and the control scheme to the ordinary node to control the operation of the multi-node robot.

2. The multi-node robot control method of claim 1, wherein, The step of switching the master node from the master node to the backup master node based on the communication failure information, and changing the master node to the normal node, includes: If the processing center does not receive the confirmation information within the target time, it determines that the master node is out of contact and switches the master node from the master node to the backup master node.

3. The multi-node robot control method of claim 1, wherein, After the master node sends data packets to the ordinary node and the backup master node at preset intervals, the method further includes: If the backup master node fails to acquire the data packet within the target time, it sends a disconnection confirmation request to the ordinary node and changes itself to the master node based on the ordinary node's response to the disconnection confirmation request.

4. The multi-node robot control method of claim 3, wherein, Also includes: The ordinary node determines the status of the data packets acquired within the target time based on the disconnection confirmation request. If the data packets are not acquired within the target time, the node sends a disconnection confirmation message to the backup master node. The backup master node changes itself to the master control node based on the confirmed loss of connection information; If the master node does not receive the confirmation information within the target time, it will change itself into the ordinary node.

5. The multi-node robot control method of claim 1, wherein, There are multiple ordinary nodes, and each ordinary node is assigned a number; the ordinary nodes and the backup master node respond to the data packet and send running data and confirmation information to the master node, including: In response to the data packet sent by the master node, the ordinary node sends the running data with the corresponding number and the confirmation information to the master node.

6. The multi-node robot control method of claim 5, wherein, The master node sends the received running data, the confirmation information, and its own running data to the processing center, including: Compare the number of confirmed messages obtained with the number of ordinary nodes; If the number of confirmed messages obtained is less than the number of ordinary nodes, then the ordinary nodes that have not sent the confirmed messages are selected based on the number. The ordinary node that did not send the confirmation information is identified as a lost node, and the number information of the lost node is sent to the processing center.

7. The multi-node robot control method of claim 6, wherein, The processing center includes a display screen and an alarm; the multi-node robot control method further includes: The processing center generates a model of the multi-node robot based on the master node, the ordinary node, and the backup master node, and displays the model on the display screen. In response to the identification information of the lost nodes, the processing center marks the lost nodes on the model and counts the number of lost nodes. When the number of disconnected nodes is greater than or equal to a preset number, the processing center controls the alarm to sound.

8. The multi-node robot control method of claim 1, wherein, The processing center includes multiple fault detection units and voting units, and the fault detection units are connected to the voting units. The processing center obtains communication fault information and operational fault information based on the operational data and the confirmation information, including: Each fault detection unit acquires the confirmation information and the operation data within a target time period, generates multiple communication fault results and multiple operation fault results based on the confirmation information and the operation data, and sends them to the voting unit; The voting unit generates communication failure information and operation failure information based on multiple communication failure results and operation failure results. If multiple communication failure results are the same, the communication failure information is generated. If multiple operation failure results are the same, the operation failure information is generated.

9. The multi-node robot control method of claim 8, wherein, The running data includes initial pose data. The ordinary node, the master node, and the backup master node are equipped with attitude sensors. The attitude sensors are used to acquire the initial pose data of each node during operation. The master node and the backup master node are also equipped with perception sensors. The perception sensors are used to acquire the perception data of the master node and the backup master node during operation. The processing center includes a processing unit, which is connected to the voting unit. The step of generating an operation control plan based on the operational fault information includes: The processing unit responds to the operational fault information generated by the voting unit, obtains the initial pose data of the corresponding node, and determines the operational fault level based on the initial pose data and the operational pose standard. The operational fault levels include a first fault level and a second fault level. When the initial pose data is greater than or equal to the running pose standard, it is determined to be the first fault level, and a first control scheme is generated. The first control scheme includes shutting down and locking the corresponding node. When the initial pose data is less than the running pose standard, it is determined to be the second fault level. A second control scheme is generated based on the target pose data and the initial pose data. The second control scheme includes adjustment data of the initial pose data of the corresponding node generated based on the target pose data, wherein the target pose data is obtained based on the perception data.

10. The multi-node robot control method of claim 9, wherein, The operational data includes the operational data of the drive unit; the step of generating an operational control plan based on the operational fault information includes: In response to the operational fault information generated by the voting unit, the processing unit obtains the operational data of the driving unit of the corresponding node, and determines the operational fault level based on the operational data of the driving unit and the driving unit operational standards. The drive unit operating standards include a stall standard and a maximum operating standard, and the operating fault levels include a third fault level and a fourth fault level. When the operating data of the drive unit is equal to the stall standard, it is determined to be the third fault level, and a third control scheme is generated. The third control scheme includes locking the motor of the corresponding node. When the operating data of the drive unit is greater than or equal to the maximum operating standard and less than the stall standard, it is determined to be the fourth fault level, and a fourth control scheme is generated. The fourth control scheme includes adjusting the operating data of the drive unit of the corresponding node to be below the maximum operating standard.

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