Ros-based mobile robot cluster scheduling control device

Abstract

This invention discloses a ROS-based mobile robot cluster scheduling and control device, including a control console with an interactive display screen mounted on its upper surface and voice modules mounted on both sides of the screen. A secondary display screen is also mounted on the upper surface of the console, and a camera module is mounted on one side of the upper surface. A cabinet with an assembly rack installed inside is also included. In this invention, the height of the pull-out shelves is flexibly adjusted via slide rails, sliding sleeves, and pins. Combined with the pull-out tray and component plate design, this facilitates quick maintenance. A servo motor drives a lead screw to adjust the console's height to accommodate different heights. Telescopic feet reduce shock. The interactive display screen, secondary screen, voice modules, and camera form a multi-channel interaction system, enabling touch control, voice alarms, and visual monitoring, improving real-time scheduling and ensuring long-term reliable operation. This integrated design balances maintenance convenience, operational comfort, interactive intelligence, and core module protection, comprehensively optimizing the overall performance of the cluster scheduling device.

Description

Technical Field

[0001] This invention relates to the field of mobile robot scheduling and control technology, and in particular to a mobile robot cluster scheduling and control device based on ROS. Background Technology

[0002] With the rapid development of intelligent manufacturing and intelligent warehousing, mobile robot cluster scheduling systems have become key equipment for improving logistics and production efficiency. Existing robot cluster scheduling and control equipment typically includes a scheduling console and a cabinet that houses the computing modules. The console has a display screen for human-machine interaction, and multiple control modules are installed in the cabinet to realize multi-robot path planning and task allocation. However, the console height in existing equipment is fixed, which cannot adapt to the usage needs of operators of different heights. The installation positions of each control module in the cabinet are fixed, making it difficult to flexibly adjust the height between layers according to the actual number of modules, resulting in low space utilization and inconvenient maintenance. At the same time, the internal cable management of the cabinet is messy, and the connecting cables are easily pulled and damaged when modules are disassembled and repaired, affecting the long-term reliability and maintenance efficiency of the equipment. The patent document with publication number CN121742521A discloses a multi-vehicle collaborative scheduling method and system for mobile robots. The method generates a global dynamic map by acquiring the real-time status and environmental perception data of multiple mobile robots, identifies key bottleneck areas and combines digital twins to predict congestion, uses a mixed integer programming model for conflict detection and decoupling optimization, and finally generates scheduling instructions to be issued to each mobile robot for execution.

[0003] While the aforementioned device achieves collaborative scheduling and path optimization for multiple robots, it primarily focuses on improving the scheduling algorithm without addressing structural optimization of the scheduling control equipment itself. The control console lacks height adjustment, the installation and maintenance of modules within the cabinet are inconvenient, and cable management remains chaotic. These shortcomings make it difficult to meet the comprehensive requirements of operational comfort, maintenance convenience, and long-term operational reliability in practical deployments of cluster scheduling equipment. Therefore, we propose a ROS-based mobile robot cluster scheduling and control device to address this issue. Summary of the Invention

[0004] The purpose of this invention is to provide a ROS-based mobile robot cluster scheduling and control device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A ROS-based mobile robot swarm scheduling and control device includes: The console has an interactive display screen mounted on its upper surface, and voice modules are mounted on both sides of the interactive display screen. A secondary display screen is mounted on the upper surface of the console, and a camera module is mounted on one side of the upper surface of the console. A server rack has an assembly frame installed inside its cavity. Slide rails are fixed around the assembly frame, and slide sleeves are slidably fitted onto the surfaces of the slide rails. Pins that insert into the slide rails are passed through the surfaces of the slide sleeves. Slide grooves are fixed on the surfaces of the slide sleeves, and slide bars are fitted into the inner cavities of the slide grooves. A pull-out shelf is fixed between two slide bars. A first handle is fixed to the lower end face of the pull-out shelf. A module assembly assembly is installed on the upper end face of the pull-out shelf. The module assembly assembly includes a component compartment. A cable guide groove is fitted into the rear end face of the component compartment. A front panel is fixed to the front end face of the component compartment. The front panel has sections on both sides... Each of the four components is fixed with a second handle. A support plate that is inserted into the inner cavity of the component compartment is fixed to the rear end face of the front end plate. Foot posts are fixed around the upper end face of the support plate. Component plates are movably connected between the upper end faces of the four foot posts. Fastening bolts that are threaded to the foot posts are sleeved around the perimeter of the component plates. Compression springs are fixed to both sides of the upper end of the support plate. An L-shaped plate that is movably connected to the lower end face of the component plate is fixed to the upper end face of the compression spring. A C-shaped plate is fixed to one side of the upper end face of the support plate. A winding roller is rotatably installed inside the C-shaped plate. Torsion springs are installed between the winding roller and the C-shaped plate on both sides. The base assembly includes a base plate, with telescopic foot pads installed around the lower end face of the base plate. Support columns are fixed around the upper end face of the base plate, and collars are fitted onto the surfaces of the support columns. A connecting rod fixed to the lower end face of the control console is welded to one side of the collar. A lead screw is rotatably mounted on the upper end face of the base plate, and a ball nut is threaded onto the surface of the lead screw. A lifting rod fixed to the lower end face of the control console is mounted on the surface of the ball nut. A servo motor is mounted on the upper end face of the control console, and a drive wheel is mounted on the rotating end below the servo motor. A driven wheel fixed to the lower extension end of the lead screw is engaged on one side of the drive wheel.

[0006] Preferably, the interactive display screen is embedded in the center of the upper surface of the console, and the interactive display screen is a touch-screen LCD display screen. The voice module is symmetrically arranged on the left and right sides of the interactive display screen, and the sound outlet of the voice module faces the top and front of the console. The secondary display screen is hinged to the upper surface of the console, and the secondary display screen can be flipped and folded relative to the console. The camera module is fixedly installed on the side of the upper surface of the console away from the operator.

[0007] Preferably, the inner wall of the sliding sleeve is tightly fitted to the outer wall of the slide rail, the pin penetrates the side wall of the sliding sleeve, and the surface of the slide rail is provided with equidistant limiting holes that cooperate with the pin.

[0008] Preferably, the pull-out layer forms a sliding pull-out structure through the two slide bars and the slide groove, and the first handle is fixed to the front edge of the lower end face of the pull-out layer.

[0009] Preferably, the size of the front end plate is larger than the front opening size of the component compartment, and the front end plate is fastened to the front surface of the component compartment, and the second handle is fixed to both sides of the front surface of the front end plate.

[0010] Preferably, the front end of the tray is fixedly connected to the rear end face of the front end plate, and the tray is slidably inserted into the bottom of the inner cavity of the component compartment.

[0011] Preferably, the fastening bolt passes through the four edges of the component plate and is connected to the threaded hole on the upper end face of the foot post, and the compression spring is fixed vertically between the support plate and the L-shaped plate.

[0012] Preferably, the winding roller forms an elastic rotational reset structure with the C-shaped plate through the torsion spring, and the axial direction of the winding roller is perpendicular to the pushing and pulling direction of the support plate.

[0013] Preferably, the inner diameter of the collar matches the outer diameter of the support column, and the collar can slide vertically along the outer wall of the support column. The four support columns are symmetrically distributed at the four corners of the base plate.

[0014] Preferably, the lifting rod is sleeved on the outside of the lead screw, and the ball nut is fitted and fixed to the inner wall of the lifting rod. The driving wheel and the driven wheel are bevel gear structures that mesh with each other.

[0015] The beneficial effects of this invention are as follows: 1. In this invention, the device adjusts the height of the pull-out layer by means of the slide rails and slide sleeves around the assembly frame and the pins, so that the internal space of the cabinet can be flexibly allocated according to the actual number and size of the modules. At the same time, the pull-out layer can be pulled out as a whole by the slide bar and slide groove, and the component plate slides out of the cabinet with the tray, which makes it convenient for the operator to quickly install, wire and disassemble the bottom and top modules, significantly improving the assembly and maintenance efficiency. 2. In this invention, the device drives the active wheel to rotate through the servo motor, which in turn drives the driven wheel and the lead screw to rotate. The ball nut pushes the lifting rod to extend and retract up and down. At the same time, the collar slides vertically along the support column, so that the control console can be raised and lowered smoothly to meet the needs of operators of different heights, reduce operator fatigue, and the telescopic foot pads provide stable support for the entire equipment and absorb vibration after being raised and lowered to the correct position, thereby enhancing the stability of equipment operation. 3. In this invention, the device forms a multi-channel human-computer interaction interface through an interactive display screen, a secondary display screen, a voice module, and a camera module. The operator can issue scheduling instructions and receive feedback information through various methods such as touch, voice, and visual recognition. The voice module actively broadcasts alarms when an anomaly occurs. The secondary display screen independently displays the map and task queue, allowing the operator to simultaneously grasp the overall status without obstructing the main interface, thereby improving the real-time performance and security of scheduling. 4. In this invention, the device uses a C-shaped plate inner winding roller and a torsion spring to form an elastic winding structure. When the pallet is pulled out, the cable is automatically released, and when it is pushed back, the excess cable is automatically wound up, avoiding cable mess or jamming. At the same time, the compression spring always lifts the component plate upward through the L-shaped plate, providing elastic buffer for the component plate when the fastening bolts loosen due to vibration, effectively preventing the components from tilting and falling, and ensuring the long-term reliable operation of the core control module. Attached Figure Description

[0016] Figure 1 This is a front view schematic diagram of the ROS-based mobile robot cluster scheduling and control device proposed in this invention. Figure 2 This is a schematic diagram of the structure at the control console in this invention; Figure 3 This is a schematic diagram of the internal structure of the cabinet in this invention; Figure 4 This is a schematic diagram of the assembly frame in this invention; Figure 5 This is a schematic diagram of the structure of the module assembly component in this invention.

[0017] In the diagram: 1. Control console; 2. Interactive display screen; 3. Voice module; 4. Sub-display screen; 5. Camera module; 6. Cabinet; 7. Assembly rack; 8. Slide rail; 9. Sliding sleeve; 10. Pin; 11. Slide groove; 12. Slide bar; 13. Pull-out shelf; 14. First handle; 15. Module assembly assembly; 1501. Component compartment; 1502. Cable tray; 1503. Front panel; 1504. Second handle; 1505. Support plate; 1506. Foot; 1507. Component 1508. Plate; 1509. Fastening bolt; 1510. Compression spring; 1511. L-shaped plate; 1512. C-shaped plate; 1513. Winding roller; 1514. Torsion spring; 16. Base assembly; 1601. Base plate; 1602. Telescopic foot pad; 1603. Support column; 1604. Collar; 1605. Connecting rod; 1606. Lead screw; 1607. Ball nut; 1608. Lifting rod; 1609. Servo motor; 1610. Drive wheel; 1611. Driven wheel.

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] Reference Figure 1 - Figure 5 A ROS-based mobile robot cluster scheduling and control device, including: The console 1 has an interactive display screen 2 installed on its upper surface, and voice modules 3 are installed on both sides of the interactive display screen 2. The console 1 also has a secondary display screen 4 installed on its upper surface, and a camera module 5 installed on one side of its upper surface. The cabinet 6 has an assembly rack 7 installed inside. Slide rails 8 are fixed around the assembly rack 7, and slide sleeves 9 are slidably fitted onto the surface of each slide rail 8. Pins 10, which insert into the slide rails 8, pass through the surface of each slide sleeve 9. A slide groove 11 is fixed to the surface of each slide sleeve 9, and a slide bar 12 is fitted into the inner cavity of the slide groove 11. A pull-out layer 13 is fixed between two slide bars 12. A first handle 14 is fixed to the lower end face of the pull-out layer 13. A module assembly assembly 15 is installed on the upper end face of the pull-out layer 13. The module assembly assembly 15 includes a component compartment 1501. A wire guide groove 1502 is fitted into the rear end face of the component compartment 1501. A front panel 1503 is fixed to the front end face of the component compartment 1501. Second handles 1504 are fixed to both sides of the front panel 1503. A support plate 1505 is fixed to the end face and inserted into the inner cavity of the component compartment 1501. A foot post 1506 is fixed around the upper end face of the support plate 1505. A component plate 1507 is movably connected between the upper end faces of the four foot posts 1506. A fastening bolt 1508 threadedly connected to the foot post 1506 is sleeved around the component plate 1507. Compression springs 1509 are fixed on both sides of the upper end of the support plate 1505. An L-shaped plate 1510 is movably connected to the lower end face of the component plate 1507 and fixed on the upper end face of the compression spring 1509. A C-shaped plate 1511 is fixed on one side of the upper end face of the support plate 1505. A winding roller 1512 is rotatably installed in the inner cavity of the C-shaped plate 1511. Torsion springs 1513 are installed between the winding roller 1512 and the C-shaped plate 1511 on both sides. The base assembly 16 includes a base plate 1601, telescopic foot pads 1602 are installed around the lower end face of the base plate 1601, support columns 1603 are fixed around the upper end face of the base plate 1601, and collars 1604 are sleeved on the surface of the support columns 1603. A connecting rod 1605 fixed to the lower end face of the control console 1 is welded to one side of the collar 1604. A lead screw 1606 is rotatably installed on the upper end face of the base plate 1601, and a ball nut 1607 is threaded onto the surface of the lead screw 1606. A lifting rod 1608 fixed to the lower end face of the control console 1 is installed on the surface of the ball nut 1607. A servo motor 1609 is installed on the upper end face of the control console 1, and a drive wheel 1610 is installed at the rotating end below the servo motor 1609. A driven wheel 1611 fixed to the lower extension end of the lead screw 1606 is engaged on one side of the drive wheel 1610.

[0020] In this embodiment, the interactive display screen 2 is fitted and installed in the center of the upper surface of the console 1, and the interactive display screen 2 is a touch-screen LCD display screen. The voice module 3 is symmetrically arranged on the left and right sides of the interactive display screen 2, and the sound outlet of the voice module 3 faces the top and front of the console 1. The display sub-screen 4 is hinged and installed on the upper surface of the console 1, and the display sub-screen 4 can be flipped and folded relative to the console 1. The camera module 5 is fixedly installed on the side of the upper surface of the console 1 away from the operator. The interactive display screen 2 is used to display the real-time status and scheduling instructions of each robot in the cluster. The operator inputs scheduling parameters through the touch interactive display screen 2. The sound output hole of the voice module 3 faces upward and forward to ensure that the operator can clearly receive voice prompts and alarm information. The secondary display screen 4 serves as an auxiliary monitor after being flipped and unfolded. It can independently display a map or task queue. When folded, it reduces space occupation. The camera module 5 faces the operator's face to realize operator identification or attention monitoring.

[0021] In this embodiment, the inner wall of the sliding sleeve 9 is tightly fitted with the outer wall of the slide rail 8, the pin 10 penetrates the side wall of the sliding sleeve 9, and the surface of the slide rail 8 is provided with limiting holes that cooperate with the pin 10 at equal intervals. The sliding sleeve 9 slides vertically along the slide rail 8 to adjust the interlayer height of each pull-out layer 13 on the assembly frame 7. The pin 10 is inserted into the limiting hole of different heights to lock the sliding sleeve 9 in the required position, thereby adapting to the installation requirements of module assembly components 15 of different thicknesses.

[0022] In this embodiment, the pull-out layer 13 forms a sliding pull-out structure through two slide bars 12 and slide groove 11, and the first handle 14 is fixed at the front edge of the lower end face of the pull-out layer 13. The operator holds the first handle 14 and pulls it outward. The pull-out layer 13 can be smoothly pulled out of the inner cavity of the cabinet 6 along the slide 11, which is convenient for maintaining or replacing the module assembly components 15 above the pull-out layer 13. When pushed back, the cooperation between the slide bar 12 and the slide 11 ensures that the pull-out layer 13 is aligned and returned to its original position.

[0023] In this embodiment, the size of the front plate 1503 is larger than the size of the front opening of the component compartment 1501, and the front plate 1503 is fastened to the front surface of the component compartment 1501. The second handle 1504 is fixed to both sides of the front surface of the front plate 1503. After the front plate 1503 is snapped in place, it completely covers the front opening of the component compartment 1501, preventing dust from entering the inner cavity of the component compartment 1501; the second handles 1504 on both sides allow the operator to apply force evenly with both hands to smoothly pull out or push the tray 1505 out of the component compartment 1501.

[0024] In this embodiment, the front end of the tray 1505 is fixedly connected to the rear end face of the front end plate 1503, and the tray 1505 is slidably inserted into the bottom of the inner cavity of the component compartment 1501. The tray 1505 moves synchronously with the front panel 1503. The tray 1505 carries the component board 1507 and the control module installed on it. When it is pulled out, the tray 1505 slides along the plane at the bottom of the inner cavity of the component compartment 1501 to ensure that the components are moved out of the cabinet 6 for wiring or maintenance.

[0025] In this embodiment, the fastening bolt 1508 passes through the four edges of the component plate 1507 and is connected to the threaded hole on the upper end face of the foot post 1506, and the compression spring 1509 is fixed in a vertical state between the support plate 1505 and the L-shaped plate 1510. The fastening bolt 1508 locks the component plate 1507 to the upper end of the foot post 1506, ensuring that the component plate 1507 is stable and does not wobble; the compression spring 1509 always pushes the L-shaped plate 1510 upward, and the upper end of the L-shaped plate 1510 abuts against the lower end of the component plate 1507, providing buffer support when the fastening bolt 1508 loosens, preventing the component plate 1507 from falling suddenly.

[0026] In this embodiment, the winding roller 1512 forms an elastic rotational reset structure with the C-shaped plate 1511 through the torsion spring 1513, and the axial direction of the winding roller 1512 is perpendicular to the push-pull direction of the support plate 1505. The connecting cables of each module on the component board 1507 are wound around the surface of the winding roller 1512. When the tray 1505 is pulled out, the cable pulls the winding roller 1512 to rotate and twists the torsion spring 1513. When the tray 1505 is pushed back to its original position, the torsion spring 1513 releases its elasticity, causing the winding roller 1512 to rotate in the opposite direction, automatically gathering the excess cable and preventing the cable from becoming messy or stuck in the cabinet 6.

[0027] In this embodiment, the inner diameter of the collar 1604 matches the outer diameter of the support column 1603, and the collar 1604 can slide vertically along the outer wall of the support column 1603. The four support columns 1603 are symmetrically distributed at the four corners of the base plate 1601. The console 1 is fixed to the collar 1604 via the connecting rod 1605. When the console 1 is raised or lowered, the four collars 1604 slide vertically along the support column 1603 in sync, ensuring that the console 1 remains level and the raising and lowering process is smooth. The support column 1603 also bears the lateral load to prevent the console 1 from tilting.

[0028] In this embodiment, the lifting rod 1608 is sleeved on the outside of the lead screw 1606, and the ball nut 1607 is fitted and fixed to the inner wall of the lifting rod 1608. The driving wheel 1609 and the driven wheel 1610 are bevel gear structures that mesh with each other. The servo motor 1609 drives the drive wheel 1609 to rotate. The drive wheel 1609 drives the driven wheel 1610 and the lead screw 1606 to rotate through the meshing of bevel gears. When the lead screw 1606 rotates, the ball nut 1607 moves along the axial direction of the lead screw 1606, thereby pushing the lifting rod 1608 to extend and retract up and down, realizing the height adjustment of the control console 1 relative to the base plate 1601. The telescopic foot pad 1602 is screwed out to contact the ground after the equipment is in place, providing overall support and absorbing vibration.

[0029] The working principle of the ROS-based mobile robot cluster scheduling and control equipment is as follows: After the entire device is powered on, the power module in the control console 1 provides working power to the interactive display screen 2, voice module 3, secondary display screen 4, camera module 5 and servo motor 1609. At the same time, the ROS computing nodes, communication gateways and power management modules mounted on the component boards 1507 on each pull-out layer 13 in the cabinet 6 start up synchronously to complete the system self-test and the initial loading of the ROS master node. The camera module 5 continuously collects image information towards the operator's face. The built-in edge recognition algorithm compares the collected facial features with the locally stored authorized operator database to complete the operation permission verification. If the verification is successful, the interactive display screen 2 automatically jumps to the dispatch control main interface. If the verification fails, the voice module 3 will issue a prompt and lock the operation interface. According to the actual scheduling task requirements, the operator inputs scheduling parameters such as the number of target robots, starting coordinates, target coordinates and priority through the touch interactive display screen 2. The interactive display screen 2 converts the touch signals into digital instructions and transmits them to the ROS master control node on the component board 1507. The ROS master control node runs the global path planning algorithm and task allocation algorithm to generate a conflict-free time-optimal scheduling scheme for multiple robots. After the secondary display screen 4 is flipped and unfolded, it independently receives map data and task queue information from the ROS master control node and displays the current position, speed, remaining battery power and task execution progress of each robot in a graphical manner in real time. This allows the operator to monitor the global status simultaneously without obstructing the main interface of the interactive display screen 2. The camera module 5 continuously monitors the operator's line of sight during the scheduling and execution process. When it detects that the operator is staring at the secondary display screen 4 for a long time, it automatically switches the secondary display screen to the detailed log mode. When the scheduling command is issued, the voice module 3 will announce the total number of tasks and the estimated completion time in synthesized voice. If any robot is detected to have communication timeout, path blockage or battery level below the safety threshold during the scheduling process, the voice module 3 will immediately issue a voice alarm that distinguishes the emergency level. At the same time, the number of the abnormal robot and the suggested handling measures will be highlighted on the interactive display screen 2. The operator can issue a verbal command for emergency stop or task reassignment through the microphone built into the voice module 3. The voice module 3 will then transmit the verbal command to the ROS master node for execution after voice recognition conversion. Inside the cabinet 6, based on the actual number of robots deployed and the size of the communication load, the operator can adjust the vertical spacing between each pull-out layer 13 by pulling out the pin 10 and sliding the slide sleeve 9 up and down. The slide sleeve 9 drives the slide groove 11 and slide bar 12 to move synchronously. After reaching the target height, the pin 10 is inserted into the corresponding limit hole on the slide rail 8 to lock it, so that the pull-out layers 13 of different heights can respectively accommodate large-sized industrial control computer modules and small-sized gateway relay modules, achieving the optimal allocation of internal space in the cabinet 6. When a control module on component board 1507 needs to be replaced or repaired, the operator holds the second handles 1504 on both sides of the front plate 1503 and pulls them outward. The support plate 1505 slides outward along the plane at the bottom of the inner cavity of component compartment 1501. At this time, the connecting cable wound on the surface of the winding roller 1512 is pulled out as the support plate 1505 is pulled out. The winding roller 1512 rotates to release the cable against the torque of the torsion spring 1513, ensuring that the cable length automatically extends as the support plate 1505 is pulled out, thus preventing the cable from being torn. At the same time, the compression spring 1509 always pushes the L-shaped plate 1510 upward. The upper surface of the L-shaped plate 1510 continuously presses against the lower surface of component board 1507, providing elastic lifting force when the fastening bolt 1508 is slightly loosened due to vibration, preventing component board 1507 from tilting or falling and damaging components. After maintenance, push the tray 1505 back into the inner cavity of the component compartment 1501. The torsion spring 1513 releases its elastic potential energy to drive the winding roller 1512 to rotate in the opposite direction, automatically winding up the excess exposed cable onto the surface of the winding roller 1512, keeping the cable neatly arranged. The operator tightens the fastening bolt 1508 to re-fix the component plate 1507 to the upper end of the foot column 1506. Then, push the pull-out layer 13 into the inner cavity of the cabinet 6 through the cooperation of the slide bar 12 and the slide groove 11 to complete the entire maintenance process. For operators of different heights, the height adjustment process of console 1 is as follows: The operator issues a lifting command through the virtual height adjustment button on the interactive display screen 2. After receiving the pulse signal, the servo motor 1609 drives its rotating end to rotate. The driving wheel 1610 rotates accordingly and drives the driven wheel 1611 to rotate through the bevel gear meshing relationship. The driven wheel 1611 is fixed to the lower extension end of the lead screw 1606, so the lead screw 1606 rotates synchronously. The thread on the surface of the lead screw 1606 drives the ball nut 1607 to move axially along the lead screw 1606. The ball nut 1607 is fitted and fixed to the inner wall of the lifting rod 1608. The upper end of the lifting rod 1608 is fixed to the lower end face of console 1. Therefore, the lifting rod 1608 moves along with the ball nut 1607. The console 1 moves up or down. During this process, the connecting rod 1605 fixed to the lower end of the console 1 drives the collar 1604 to slide vertically along the outer wall of the support column 1603. The four support columns 1603 are symmetrically distributed at the four corners of the base plate 1601 to ensure that the console 1 maintains a horizontal posture without tilting during the entire lifting process. When the console 1 reaches the appropriate height, the operator releases the virtual button, the servo motor 1609 stops rotating, and the self-locking characteristics of the lead screw 1606 and the ball nut 1607 keep the console 1 stably at the current height. At the same time, the telescopic feet 1602 around the lower end of the base plate 1601 are pre-screwed out to contact the ground, providing stable support for the overall equipment and absorbing the slight vibration generated by the operation of the fan in the cabinet 6. Throughout the entire scheduling and control process, the ROS computing nodes on each component board 1507 in cabinet 6 maintain real-time data interaction with the external mobile robot cluster through Ethernet or wireless communication gateways. The odometer data, LiDAR data, and battery status data fed back by the robot are introduced into the component compartment 1501 through the cable tray 1502 and connected to the corresponding modules. The ROS master control node issues speed control commands and task switching commands at a fixed frequency, completing the complete closed-loop scheduling and control from task initiation to robot execution and status feedback.

[0030] The ROS-based mobile robot cluster scheduling and control device provided by this invention has been described in detail above. Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of these embodiments are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A ROS-based mobile robot swarm scheduling and control device, characterized in that, include: The console (1) has an interactive display screen (2) installed on its upper surface, and voice modules (3) are installed on both sides of the interactive display screen (2). The console (1) has a secondary display screen (4) installed on its upper surface, and a camera module (5) is installed on one side of the upper surface of the console (1). A cabinet (6) is provided with an assembly rack (7) installed inside the cabinet (6). Slide rails (8) are fixed around the assembly rack (7) respectively. Slide sleeves (9) are slidably fitted on the surface of the slide rails (8). Pins (10) that are inserted into the slide rails (8) are passed through the surface of the slide sleeves (9). Slide grooves (11) are fixed on the surface of the slide sleeves (9). Slide strips (12) are fitted inside the slide grooves (11). A pull-out layer (13) is fixed between the two slide strips (12). A first handle (14) is fixed to the lower end face of the pull-out layer (13), and a module assembly assembly (15) is installed on the upper end face of the pull-out layer (13). The module assembly assembly (15) includes a component compartment (1501), a wire groove (1502) is fitted into the rear end face of the component compartment (1501), a front end plate (1503) is fixed to the front end face of the component compartment (1501), and second handles (1504) are fixed to both sides of the front end plate (1503). The front end plate (1503) has a support plate (1505) fixed to its rear end face, which is inserted into the inner cavity of the component compartment (1501). The support plate (1505) has four feet (1506) fixed around its upper end face. A component plate (1507) is movably connected between the upper ends of the four feet (1506), and fastening bolts (1508) threaded to the feet (1506) are respectively fitted around the perimeter of the component plate (1507). The support plate (1505) has... Compression springs (1509) are fixed on both sides of the end, and an L-shaped plate (1510) is fixed on the upper end face of the compression springs (1509) and movably connected to the lower end face of the component plate (1507). A C-shaped plate (1511) is fixed on one side of the upper end face of the support plate (1505). A winding roller (1512) is rotatably installed in the inner cavity of the C-shaped plate (1511), and torsion springs (1513) are installed between the winding roller (1512) and the C-shaped plate (1511) on both sides. The base assembly (16) includes a base plate (1601), telescopic foot pads (1602) are installed around the lower end face of the base plate (1601), support columns (1603) are fixed around the upper end face of the base plate (1601), and collars (1604) are sleeved on the surface of the support columns (1603). A connecting rod (1605) fixed to the lower end face of the control console (1) is welded to one side of the collar (1604). A wire is rotatably installed on the upper end face of the base plate (1601). The screw (1606) has a ball nut (1607) threaded on its surface. A lifting rod (1608) fixed to the lower end of the control console (1) is mounted on the surface of the ball nut (1607). A servo motor (1609) is mounted on the upper end of the control console (1). A drive wheel (1610) is mounted on the rotating end below the servo motor (1609). A driven wheel (1611) fixed to the lower extension end of the screw (1606) is engaged on one side of the drive wheel (1610).

2. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The interactive display screen (2) is fitted and installed in the center of the upper surface of the console (1), and the interactive display screen (2) is a touch-screen LCD display. The voice module (3) is symmetrically arranged on the left and right sides of the interactive display screen (2), and the sound outlet of the voice module (3) faces the top and front of the console (1). The sub-display screen (4) is hinged and installed on the upper surface of the console (1), and the sub-display screen (4) can be flipped and folded relative to the console (1). The camera module (5) is fixedly installed on the side of the upper surface of the console (1) away from the operator.

3. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The inner wall of the sliding sleeve (9) is tightly fitted to the outer wall of the slide rail (8), the pin (10) penetrates the side wall of the sliding sleeve (9), and the surface of the slide rail (8) is provided with equidistant limiting holes that cooperate with the pin (10).

4. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The pull-out layer (13) forms a sliding pull-out structure with the two slide bars (12) and the slide groove (11), and the first handle (14) is fixed at the front edge of the lower end face of the pull-out layer (13).

5. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The front end plate (1503) is larger than the front opening of the component compartment (1501), and the front end plate (1503) is fastened to the front surface of the component compartment (1501). The second handle (1504) is fixed to both sides of the front surface of the front end plate (1503).

6. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The front end of the tray (1505) is fixedly connected to the rear end face of the front end plate (1503), and the tray (1505) is slidably inserted into the bottom of the inner cavity of the component compartment (1501).

7. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The fastening bolt (1508) passes through the four edges of the component plate (1507) and is connected to the threaded hole on the upper end face of the foot post (1506), and the compression spring (1509) is fixed vertically between the support plate (1505) and the L-shaped plate (1510).

8. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The winding roller (1512) forms an elastic rotational reset structure with the C-shaped plate (1511) through the torsion spring (1513), and the axial direction of the winding roller (1512) is perpendicular to the push-pull direction of the support plate (1505).

9. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The inner diameter of the collar (1604) matches the outer diameter of the support column (1603), and the collar (1604) can slide vertically along the outer wall of the support column (1603). The four support columns (1603) are symmetrically distributed at the four corners of the base plate (1601).

10. The ROS-based mobile robot cluster scheduling and control device according to claim 1, characterized in that, The lifting rod (1608) is sleeved on the outside of the lead screw (1606), and the ball nut (1607) is fitted and fixed to the inner wall of the lifting rod (1608). The driving wheel (1609) and the driven wheel (1610) are bevel gear structures that mesh with each other.

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