Bionic climbing robot cluster formation input sharing control method

Abstract

The invention discloses a bionic climbing robot cluster formation input sharing control method, and particularly relates to the field of robots, and the method comprises the following steps: S1, a plurality of bionic climbing robots are connected through a wireless communication module to form a cluster, and a main robot is selected as a cluster control center; s2, all the bionic climbing robots obtain environment data through respective environment sensing modules and upload the data to the cluster control center in real time; s3, the cluster control center generates a control instruction according to the collected environment data in combination with a preset task target and a formation strategy; s4, the cluster control center broadcasts the generated control instruction to all the bionic climbing robots in the cluster through a wireless communication module; and S5, the bionic climbing robots execute corresponding actions according to the received control instructions, and cluster formation and collaborative operation are achieved. The method has the advantages that automatic obstacle avoidance and conflict adjustment can be achieved, and efficient operation and cooperation in a complex environment can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more specifically, to a bionic climbing robot cluster formation input sharing control method. Background Art

[0002] With the development of social economy, cities pay more and more attention to beautification work. However, pruning trees along urban roads has become a problem. At present, the tree pruning equipment on the market is either large in size and difficult to operate on urban roads, and even affects traffic and causes chaos. Some are not automated enough and require manual climbing of trees, which is not only labor-intensive, time-consuming and labor-intensive, but may even cause personal and property losses.

[0003] With the increasing demand for aerial work in forestry, agriculture, and environmental monitoring, bionic climbing robots have attracted widespread attention due to their unique adaptability and flexibility. However, most of the climbing robots in the prior art are mainly single-unit operations, lacking the ability of cluster collaborative operations, especially in complex and changing environments. Single-unit operations are inefficient and difficult to cope with complex tasks. Therefore, a bionic climbing robot cluster formation input sharing control method is proposed. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a bionic climbing robot cluster formation input sharing control method to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a bionic climbing robot cluster formation input sharing control method, comprising the following steps:

[0006] S1: Multiple bionic climbing robots establish connections through wireless communication modules to form a cluster, and elect a master robot as the cluster control center;

[0007] S2: Each bionic climbing robot obtains environmental data through its own environmental perception module and uploads the data to the cluster control center in real time;

[0008] S3: The cluster control center generates control instructions based on the collected environmental data, combined with the preset mission objectives and formation strategies;

[0009] S4: The cluster control center broadcasts the generated control instructions to all bionic climbing robots in the cluster through the wireless communication module;

[0010] S5: Each bionic climbing robot performs corresponding actions according to the received control instructions to achieve cluster formation and collaborative operation.

[0011] Preferably, the environment perception module includes but is not limited to a camera, an infrared sensor, a laser radar, etc., and is used to obtain information such as images, distances, obstacles, etc. of the surrounding environment of the bionic climbing robot.

[0012] Preferably, when the cluster control center generates control instructions based on environmental data, the current state of the bionic climbing robot, such as power level, mechanical state, etc., is also considered to ensure the feasibility and safety of the control instructions.

[0013] Preferably, the control instructions include but are not limited to movement instructions, clamping instructions, cutting instructions, etc., which are used to guide the bionic climbing robot to complete tasks such as climbing, clamping tree trunks, and pruning branches.

[0014] Preferably, a conflict resolution mechanism is also included. When multiple bionic climbing robots conflict while performing tasks, the cluster control center arbitrates according to preset conflict resolution rules to ensure the smooth progress of cluster operations.

[0015] Preferably, it also includes a dynamic formation adjustment function, where the cluster control center dynamically adjusts the formation structure and task allocation of the bionic climbing robots according to task requirements and environmental changes to improve work efficiency and safety.

[0016] A bionic climbing robot cluster formation input sharing control system includes bionic climbing robots: each robot has independent movement capability, environmental perception capability (such as camera, infrared sensor, laser radar, etc.) and functional modules required for performing tasks (such as clamping device, cutting tool, etc.);

[0017] Wireless communication module: used for data transmission and communication between robots to ensure real-time sharing of information within the cluster;

[0018] Cluster control center: It is a master robot in the cluster, responsible for receiving environmental data, generating control instructions and broadcasting them to all robots in the cluster.

[0019] Preferably, each of the bionic climbing robots includes an environmental perception module, which is used to obtain data on the surrounding environment in real time, including images, distances, obstacle information, etc., and upload the acquired environmental data to the cluster control center via a wireless communication module.

[0020] Technical effects and advantages of the present invention:

[0021] 1. Through input shared control, the bionic climbing robot cluster can work together to complete tasks. This synergy can significantly improve work efficiency, because the robots can cooperate with each other to avoid duplication of work and waste of resources. The input shared control method can optimize task allocation to ensure that each robot can undertake the task that best suits it, thereby improving overall work efficiency.

[0022] 2. In a cluster formation, if a robot fails or cannot continue to work, the task allocation of other robots can be quickly adjusted by inputting a shared control method to ensure that the entire system can continue to operate, thereby enhancing the system's fault tolerance. The use of multi-source fusion positioning technology and a LAN-based communication architecture can improve the robot's positioning accuracy and communication stability in complex environments. This optimization helps reduce system instability caused by positioning errors or communication failures, thereby enhancing the robustness of the system.

[0023] 3. The input sharing control method allows users to customize the formation and number of robot formations according to actual needs. This flexibility enables the robot cluster to adapt to different operating environments and task requirements. During the operation, if the environment changes or the task requirements change, the input sharing control method can support the dynamic adjustment of the robot cluster. This adaptability helps ensure that the robot cluster always maintains the best working condition.

[0024] 4. Through the integrated obstacle avoidance algorithm and environmental perception module, the bionic climbing robot can autonomously identify and avoid obstacles in complex environments, reduce collision risks, and ensure operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of the control method of the present invention.

[0026] Figure 2 It is a schematic diagram of the connection between the robots of the present invention and the main robot.

[0027] Figure 3 It is a schematic diagram of the control system of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] As attached Figure 1-3A bionic climbing robot cluster formation input sharing control method shown includes the following steps:

[0030] S1: Multiple bionic climbing robots establish connections through wireless communication modules to form a cluster, and elect a master robot as the cluster control center;

[0031] S2: Each bionic climbing robot obtains environmental data through its own environmental perception module and uploads the data to the cluster control center in real time;

[0032] The environment perception module includes but is not limited to cameras, infrared sensors, laser radars, etc., which are used to obtain information such as images, distances, obstacles, etc. of the surrounding environment of the bionic climbing robot;

[0033] S3: The cluster control center generates control instructions based on the collected environmental data, combined with the preset mission objectives and formation strategies;

[0034] When the cluster control center generates control instructions based on environmental data, it also considers the current state of the bionic climbing robot, such as power level, mechanical state, etc., to ensure the feasibility and safety of the control instructions;

[0035] S4: The cluster control center broadcasts the generated control instructions to all bionic climbing robots in the cluster through the wireless communication module;

[0036] The control instructions include but are not limited to movement instructions, clamping instructions, cutting instructions, etc., which are used to guide the bionic climbing robot to complete tasks such as climbing, clamping tree trunks, and pruning branches;

[0037] S5: Each bionic climbing robot performs corresponding actions according to the received control instructions to achieve cluster formation and collaborative operation.

[0038] It also includes a conflict resolution mechanism. When multiple bionic climbing robots conflict while performing tasks, the cluster control center arbitrates according to preset conflict resolution rules to ensure the smooth progress of cluster operations.

[0039] It also includes a dynamic formation adjustment function. The cluster control center dynamically adjusts the formation structure and task allocation of the bionic climbing robots according to task requirements and environmental changes to improve operational efficiency and safety.

[0040] Specific implementation process:

[0041] Cluster initialization and connection establishment

[0042] After the robots are turned on, they discover and establish connections with each other through wireless communication modules, forming a temporary communication network.

[0043] An election algorithm is executed in the network to select the master robot as the cluster control center and notify other robots.

[0044] Environmental data collection and upload

[0045] Each bionic climbing robot obtains surrounding environment data through its environmental perception module regularly or according to preset conditions (such as encountering obstacles, battery power below a threshold, etc.).

[0046] The acquired data (including images, distances, obstacle information, etc.) are compressed and encrypted and then uploaded to the cluster control center via the wireless communication module.

[0047] Control command generation and broadcasting

[0048] The cluster control center receives environmental data from each robot and summarizes and analyzes it.

[0049] Generate corresponding control instructions based on the analysis results and preset mission objectives, formation strategies and the current status of the robot (such as power level, mechanical status, etc.).

[0050] The control instructions are broadcast to all bionic climbing robots in the cluster through the wireless communication module.

[0051] Control command execution and collaborative operation

[0052] After receiving the control command, the robot first parses and verifies the command.

[0053] According to the parsed instruction content, the corresponding actions (such as moving, clamping, cutting, etc.) are executed, and the execution status is fed back to the cluster control center in real time.

[0054] During the operation, the robots maintain communication with each other and share status information and environmental data in real time so that the cluster control center can adjust the control strategy in time.

[0055] Conflict resolution and dynamic formation adjustment

[0056] When multiple robots encounter conflicts while performing tasks (such as path intersection, resource competition, etc.), the cluster control center arbitrates according to preset conflict resolution rules (such as priority sorting, path replanning, etc.).

[0057] According to task requirements and environmental changes (such as new tasks, robot failures, etc.), the cluster control center can dynamically adjust the robot formation structure and task allocation. For example, some robots can be reallocated to new task areas, or the formation shape can be adjusted to adapt to different working environments.

[0058] Specifically, it also includes technical safeguards

[0059] Algorithm optimization: Use advanced path planning algorithms, obstacle avoidance algorithms, and collaborative control algorithms to ensure efficient operation and collaborative cooperation of robots in complex environments.

[0060] Hardware redundancy: Provide redundant design for key components (such as motors, sensors, etc.) to improve system reliability and stability.

[0061] Data encryption and security: Encrypt the transmitted data to ensure data security during the communication process. At the same time, set up access control mechanisms to prevent unauthorized access and operation.

[0062] Fault detection and recovery: The robot has a self-detection function and can detect and report fault information in a timely manner. The cluster control center takes corresponding recovery measures based on the fault information (such as reallocating tasks, starting backup robots, etc.).

[0063] A bionic climbing robot cluster formation input sharing control system includes bionic climbing robots: each robot has independent movement capability, environmental perception capability (such as camera, infrared sensor, laser radar, etc.) and functional modules required for performing tasks (such as clamping device, cutting tool, etc.);

[0064] Wireless communication module: used for data transmission and communication between robots to ensure real-time sharing of information within the cluster;

[0065] Cluster control center: It is a master robot in the cluster, responsible for receiving environmental data, generating control instructions and broadcasting them to all robots in the cluster.

[0066] Each of the bionic climbing robots includes an environment perception module, which is used to obtain data about the surrounding environment in real time, including images, distances, obstacle information, etc., and upload the obtained environmental data to the cluster control center via a wireless communication module. Specific embodiments

[0068] 1. System architecture

[0069] Leader: Select one or more bionic climbing robots as leaders to plan the movement path and formation shape of the entire cluster;

[0070] Followers: The remaining robots act as followers and adjust their motion states according to the leader's instructions and their own perception information, maintaining their relative positions and postures with the leader and / or other followers.

[0071] 2. Communication Protocol

[0072] Wireless communication: All robots exchange information through wireless communication modules (such as Wi-Fi, Zigbee, etc.);

[0073] Shared information: including position, speed, acceleration, posture, obstacle information, etc.;

[0074] Instruction transmission: The leader sends path planning results and formation adjustment instructions to followers.

[0075] 3. Control strategy

[0076] Path planning: The leader uses a global path planning algorithm to plan the optimal path from the starting point to the end point in a known environment map. At the same time, it combines a local path planning algorithm (such as the dynamic window method) to process the obstacle information perceived in real time.

[0077] Specifically, the global path planning algorithm formula is:

[0078] f(n)=g(n)+h(n)

[0079] Where f(n) is the estimated total cost from the starting point to the target node through node n, g(n) is the actual cost from the starting point to node n, and h(n) is the heuristic estimated cost from node n to the target node.

[0080] Formation Control:

[0081] Formation keeping: The follower uses behavior-based control strategies or virtual structure methods to maintain its relative position and posture with the leader based on the leader's position and velocity information.

[0082] Obstacle Avoidance and Conflict Resolution: When an obstacle is detected or a possible collision with other robots is detected, the follower uses an obstacle avoidance algorithm to make local path adjustments and coordinates motion with the leader and other followers through a communication protocol to avoid conflicts.

[0083] Specifically, the obstacle avoidance algorithm formula is:

[0084]

[0085] Among them, k i is the weight coefficient associated with the ith obstacle, d i (x,y) is the distance from the robot position (x,y) to the ith obstacle, and ε is a small positive number to prevent the denominator from being zero.

[0086] Through the obstacle avoidance algorithm formula, potential energy can be allocated to the robot and the obstacle, and the robot can move in the direction of decreasing potential energy to achieve obstacle avoidance.

[0087] Collaborative work: In tasks that require collaborative work (such as carrying heavy objects together, collaborative searching, etc.), robots coordinate their actions by sharing task information and status information.

[0088] In specific implementation, when robots are working together, the states (such as position, speed, and direction) of multiple robots are made consistent through local communication and simple rules.

[0089] Specifically, in the average consistency protocol, each robot updates its state to the average of the states of its neighboring robots, and the states of multiple robots are made consistent through iteration;

[0090] The iteration equation is:

[0091]

[0092] in, is the state of robot i at time t, N i is the set of neighbors of robot i, w ij is the weight coefficient.

[0093] 4. Implementation steps

[0094] Initialization: All robots start and join the cluster network, and the leader begins to plan the path.

[0095] Path planning: The leader plans the optimal path based on task requirements and environmental information, and sends the path information to the followers through the communication protocol.

[0096] Formation control: The follower adjusts its motion state based on the received path information and its own perception information to maintain its relative position and posture with the leader.

[0097] Obstacle avoidance and conflict resolution: During movement, the robot detects obstacles and conflicts in real time and uses obstacle avoidance algorithms to make local path adjustments.

[0098] Collaborative work (if applicable): Robots share task information and status information and work together to complete designated tasks.

[0099] Mission completed: When all robots reach the designated location or complete the designated mission, the cluster disbands or enters standby mode

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic climbing robot cluster formation input sharing control method, characterized in that: The following steps are involved: S1: Multiple bionic climbing robots establish connections through wireless communication modules to form a cluster, and elect a master robot as the cluster control center; S2: Each bionic climbing robot obtains environmental data through its own environmental perception module and uploads the data to the cluster control center in real time; S3: The cluster control center generates control instructions based on the collected environmental data, combined with the preset mission objectives and formation strategies; S4: The cluster control center broadcasts the generated control instructions to all bionic climbing robots in the cluster through the wireless communication module; S5: Each bionic climbing robot performs corresponding actions according to the received control instructions to achieve cluster formation and collaborative operation.

2. The bionic climbing robot cluster formation input sharing control method according to claim 1 is characterized in that: The environment perception module includes but is not limited to cameras, infrared sensors, laser radars, etc., and is used to obtain information such as images, distances, obstacles, etc. of the surrounding environment of the bionic climbing robot.

3. The bionic climbing robot cluster formation input sharing control method according to claim 1, characterized in that: When the cluster control center generates control instructions based on environmental data, it also considers the current state of the bionic climbing robot, such as power level, mechanical state, etc., to ensure the feasibility and safety of the control instructions.

4. The bionic climbing robot cluster formation input sharing control method according to claim 1, characterized in that: The control instructions include but are not limited to movement instructions, clamping instructions, cutting instructions, etc., which are used to guide the bionic climbing robot to complete tasks such as climbing, clamping tree trunks, and pruning branches.

5. The bionic climbing robot cluster formation input sharing control method according to claim 1, characterized in that: It also includes a conflict resolution mechanism. When multiple bionic climbing robots conflict while performing tasks, the cluster control center arbitrates according to preset conflict resolution rules to ensure the smooth progress of cluster operations.

6. The bionic climbing robot cluster formation input sharing control method according to claim 1, characterized in that: It also includes a dynamic formation adjustment function. The cluster control center dynamically adjusts the formation structure and task allocation of the bionic climbing robots according to task requirements and environmental changes to improve operational efficiency and safety.

7. A bionic climbing robot cluster formation input sharing control system, characterized in that: Including bionic climbing robots: each robot has independent mobility, environmental perception capabilities (such as cameras, infrared sensors, laser radar, etc.) and functional modules required to perform tasks (such as gripping devices, cutting tools, etc.); Wireless communication module: used for data transmission and communication between robots to ensure real-time sharing of information within the cluster; Cluster control center: It is a master robot in the cluster, responsible for receiving environmental data, generating control instructions and broadcasting them to all robots in the cluster.

8. The bionic climbing robot cluster formation input sharing control system according to claim 7, characterized in that: Each of the bionic climbing robots includes an environment perception module, which is used to obtain data about the surrounding environment in real time, including images, distances, obstacle information, etc., and upload the obtained environmental data to the cluster control center via a wireless communication module.

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