CN113203986A - Robot cluster formation positioning method and positioning system - Google Patents
Robot cluster formation positioning method and positioning system Download PDFInfo
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- CN113203986A CN113203986A CN202110338999.0A CN202110338999A CN113203986A CN 113203986 A CN113203986 A CN 113203986A CN 202110338999 A CN202110338999 A CN 202110338999A CN 113203986 A CN113203986 A CN 113203986A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention provides a robot cluster formation positioning method and a positioning system, wherein the method comprises the steps of placing an origin robot and a mobile robot together in a space with closed periphery; then each laser ranging sensor emits laser and measures a first distance between the laser and the space wall, and the origin robot rotates in situ according to the first distance value; when the sum of the first distance values corresponding to the front wall and the rear wall reaches the minimum and the sum of the first distance values corresponding to the left wall and the right wall reaches the minimum, closing all laser ranging sensors carried by the origin robot and opening electromagnets carried by the origin robot; meanwhile, the laser ranging sensor transmits the first distance values to the mobile robot through the wireless module; and then adjusting the position of the mobile robot and moving to complete the formation. The invention avoids using the absolute position of each robot, and the laser ranging sensor is used as a positioning device for the relative position of the robots, so that the formation precision is high.
Description
Technical Field
The invention belongs to the technical field of robots and navigation, and particularly relates to a robot cluster formation positioning method and a robot cluster formation positioning system.
Background
In recent years, advances in robotics have made it possible to collaborate tasks with a large number of inexpensive robots, some of which may be easier and cheaper to use than a single, more intelligent, and more expensive robot, and some of which may be difficult to accomplish with a single robot and must be accomplished through collaboration of multiple robots. Due to the advantage of multiple robots cooperating to complete tasks, people pay more and more attention to the robot, and the robot is more and more widely applied to various fields, such as automatic production lines, ocean and space exploration, military affairs and the like. Collaboration is essential in multi-robot systems, and research on collaborative multi-robot systems mainly focuses on population structure, learning, resource conflict resolution, origin of collaboration, and geometric issues. In research, in order to make the research result have a general meaning, people mainly focus on the research on some basic standard problems, such as carrying, formation, searching, classification, capture, tracking and the like. As collaborative multi-robotics starts to be active in the field of robotic research, the formation technology has gained wide attention. Eikrn Bahcei defines multi-robot formation as a process in which a group of autonomous mobile robots coordinate and conform to form a certain shaped formation and maintain the formation. Formation of agents is very useful, and in nature, animals such as birds, fish and the like have the ability to form groups of certain shapes so as to facilitate flying, foraging or avoiding behaviors such as natural enemies; similarly, robot formation enables the motion coordination of a multi-robot system to be consistent, the task completion is more reliable and efficient, and the method and the system are widely applied to search and rescue, mine removal, space exploration, satellite and control of unmanned vehicles or aircrafts.
However, in the existing formation system, the absolute position of the robot needs to be obtained, and in an actual complex environment, the absolute coordinate of the robot inevitably has an acquisition error, which results in poor formation accuracy.
Disclosure of Invention
The invention aims to provide a robot cluster formation positioning method and a positioning system, which avoid using the absolute position of each robot, can perform high-precision positioning in a small range by using a laser ranging sensor as a positioning device of the relative position of the robots and matching with electromagnets and Hall sensors. In order to achieve the purpose, the invention adopts the following technical scheme:
a robot cluster formation positioning method comprises the following steps:
step 1: placing an origin robot and a mobile robot together in a space with closed periphery; the origin robot and the mobile robot have the same structure; the space wall forming the space is a plane wall and comprises a front wall, a rear wall, a left wall and a right wall;
step 2: the method comprises the steps that a user controls an origin robot to start laser ranging sensors carried by the origin robot, the laser ranging sensors are respectively located in four directions of a space, each laser ranging sensor emits laser and measures a first distance between the laser ranging sensor and a wall of the space, all first distance values are transmitted to the origin robot in real time, and the origin robot rotates in situ according to the first distance values;
and step 3: when the sum of the first distance values corresponding to the front wall and the rear wall is minimum and the sum of the first distance values corresponding to the left wall and the right wall is minimum, the origin robot automatically stops rotating and automatically closes all laser ranging sensors carried by the origin robot to realize the position adjustment of the origin robot; then the origin robot automatically starts an electromagnet carried by the origin robot; meanwhile, the laser ranging sensor transmits the first distance values to the mobile robot through the wireless module;
and 4, step 4: the method comprises the following steps that a user controls a mobile robot to start laser ranging sensors carried by the mobile robot, the laser ranging sensors are respectively located in four directions of a space, each laser ranging sensor emits laser and measures a second distance between the laser ranging sensor and a wall of the space, then the second distance value is transmitted to the mobile robot in real time, and the mobile robot rotates in situ according to the second distance value;
and 5: when the sum of the second distance values corresponding to the front wall and the rear wall is minimum and the sum of the second distance values corresponding to the left wall and the right wall is minimum, the mobile robot automatically stops rotating and automatically closes all laser ranging sensors carried by the mobile robot to realize position adjustment of the mobile robot;
step 6: and (3) the mobile robot autonomously moves towards the front wall, when the second distance value of the mobile robot relative to the front wall is equal to the first distance value of the origin robot relative to the front wall in the step (3), the mobile robot autonomously moves along the direction vertical to the front wall, and when the second distance value of the mobile robot relative to the left wall is zero, the mobile robot autonomously stops moving to finish formation.
Preferably, in step 6, when the mobile robot moves to a preset distance in a direction perpendicular to the front wall, the mobile robot autonomously turns on an electromagnet carried by the mobile robot and close to one side of the origin robot, reads the change of the magnetic field intensity through a hall sensor carried by the mobile robot and close to one side of the origin robot, and then transmits the magnetic field intensity to the mobile robot in real time; when the magnetic field intensity is maximum, the mobile robot automatically turns off the electromagnet carried by the mobile robot.
Preferably, the top surface of the origin robot is a square; and four edges of the top surface are provided with an electromagnet and a Hall sensor.
Preferably, the origin robot includes a mecanum wheel.
Preferably, the space is comprised of a perimeter wall.
A robot cluster formation positioning system comprises an origin robot, a mobile robot and a wireless module; the wireless module is used for communicating the main control module of the origin robot with the main control module of the mobile robot.
Preferably, the origin robot further comprises a communication module for communicating with the mobile robot.
Compared with the prior art, the invention has the advantages that:
(1) by using the laser ranging sensor as a positioning device for the relative position of the robots, the absolute position of each robot is avoided, and the formation precision is improved. In addition, the laser ranging sensor has the advantages of low power consumption, high precision, mature technology and the like.
(2) And the electromagnet and the Hall sensor are matched, so that higher-precision positioning can be performed in a small range.
(3) The Mecanum wheels are used as moving parts, so that the omnidirectional movement and in-situ rotation of the robot can be realized, the complexity of a control algorithm is reduced while the movement precision is ensured, and the movement flexibility of the robot is improved.
Drawings
Fig. 1 is a process comparison diagram of a robot cluster formation positioning method according to an embodiment of the present invention;
FIG. 2 is a state diagram of the origin robot in an initial position;
FIG. 3 is a state diagram of the origin robot after it has stopped;
fig. 4 is a state diagram of the mobile robot in an initial position;
FIG. 5 is a state diagram before the mobile robot moves toward the front wall;
fig. 6 is a state diagram after the mobile robot is stopped;
fig. 7 is a control schematic diagram of the origin robot of the present invention.
Fig. 8 is a plan view of the origin robot of the present invention.
The robot comprises a 1-origin robot, a 2-mobile robot, a 3-laser ranging sensor, a 4-electromagnet and a 5-Hall sensor.
Detailed Description
The present invention will now be described in more detail with reference to the accompanying schematic drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
As shown in fig. 1 to 6, a robot cluster formation positioning method includes:
step 1: an origin robot 1 and a mobile robot 2 are placed together in a space enclosed all around, as shown in fig. 1.
Wherein, the origin robot 1 and the mobile robot 2 have the same structure; the space is composed of enclosing walls; the space wall forming the space is a plane wall and comprises a front wall, a rear wall, a left wall and a right wall. I.e., the front wall, the rear wall, the left wall and the right wall are all a plane. In this embodiment, the space wall corresponding to the first distance value X11 is the front wall, that is, the space wall corresponding to a is the front wall.
Step 2: the user control initial point robot 1 to start the laser range finding sensor 3 that initial point robot 1 self carried, laser range finding sensor 3 is located four positions in space respectively, and every laser range finding sensor 3 all launches laser and measures its first distance for between the space wall, later all transmits first distance value to initial point robot 1 in real time, and initial point robot 1 carries out the pivot according to first distance value.
Specifically, as shown in fig. 2, the origin robot 1 emits laser light through the laser ranging sensors 3 distributed at A, B, C, D at four positions, and obtains a first distance value X11 corresponding to the front wall, a first distance value X12 corresponding to the rear wall, a first distance value Y11 corresponding to the right wall, and a first distance value Y12 corresponding to the left wall.
And step 3: when the sum of the first distance values corresponding to the front wall and the rear wall is minimum and the sum of the first distance values corresponding to the left wall and the right wall is minimum, the origin robot 1 automatically stops rotating and automatically closes all the laser ranging sensors 3 carried by the origin robot 1 so as to realize the position adjustment of the origin robot 1. The sum (X11 + X12) of the first distance value X11 corresponding to the front wall and the first distance value X12 corresponding to the rear wall is minimum; the sum (Y11 + Y12) of the first distance value Y11 corresponding to the right wall and the first distance value Y12 corresponding to the left wall is the smallest. When X11+ X12 is minimal, the laser at a is perpendicular to the front wall and the laser at C is perpendicular to the back wall; when Y11+ Y12 is minimal, the laser light at B is perpendicular to the right wall and the laser light at D is perpendicular to the left wall, as shown in FIG. 3.
Then the origin robot 1 automatically starts the electromagnet 4 carried by the origin robot; meanwhile, the laser ranging sensor 3 transmits the 4 first distance values to the mobile robot 2 through the wireless module, so that the subsequent mobile robot 2 plans a moving path according to the first distance values. Wherein, the electromagnet 4 on the origin robot 1 is used for providing a magnetic field for the electromagnet 4 on the mobile robot 2.
And 4, step 4: the user controls the mobile robot 2 to start the laser ranging sensors 3 carried by the mobile robot 2, the laser ranging sensors 3 are respectively located in four directions of a space, each laser ranging sensor 3 emits laser and measures a second distance between each laser ranging sensor 3 and a corresponding space wall, then the 4 laser ranging sensors 3 transmit a second distance value to the mobile robot 2 in real time, and the mobile robot 2 rotates in situ according to the second distance value.
Specifically, as shown in fig. 4, the mobile robot 2 emits laser light through the laser ranging sensors 3 distributed at A, B, C, D at four positions, and obtains a second distance value X21 corresponding to the front wall, a second distance value X22 corresponding to the rear wall, a second distance value Y21 corresponding to the right wall, and a second distance value Y22 corresponding to the left wall.
And 5: when the sum of the second distance values corresponding to the front wall and the rear wall is minimum and the sum of the second distance values corresponding to the left wall and the right wall is minimum, the mobile robot 2 automatically stops rotating and automatically closes all the laser ranging sensors 3 carried by the mobile robot 2 to realize the position adjustment of the mobile robot 2. The sum (X21 + X22) of the second distance value X21 corresponding to the front wall and the second distance value X22 corresponding to the rear wall is minimum; the sum (Y21 + Y22) of the second distance value Y21 corresponding to the right wall and the second distance value Y22 corresponding to the left wall is the smallest. When X21+ X22 is minimal, the laser at a is perpendicular to the front wall and the laser at C is perpendicular to the back wall; when Y21+ Y22 is minimal, the laser light at B is perpendicular to the right wall and the laser light at D is perpendicular to the left wall, as shown in FIG. 5. Wherein, the functions of the steps 4-5 are similar to the functions of the steps 2-3, namely, the robot is adjusted to be right above and right below. At this time, the mobile robot 2 and the origin robot 1 are parallel.
Step 6: the mobile robot 2 autonomously moves toward the front wall, and when the second distance value (X21) of the mobile robot 2 with respect to the front wall is equal to the first distance value (X11) of the origin robot 1 with respect to the front wall in step 3, the mobile robot 2 moves in a direction perpendicular to the front wall.
When the mobile robot 2 moves to a preset distance along a direction perpendicular to the front wall, the mobile robot 2 automatically starts an electromagnet 4 which is carried by the mobile robot 2 and is close to one side of the origin robot 1, reads the change of the magnetic field intensity through a Hall sensor 5 which is carried by the mobile robot 2 and is close to one side of the origin robot 1, and then transmits the magnetic field intensity to the mobile robot 2 in real time; when the magnetic field intensity is maximum, the mobile robot 2 automatically turns off the electromagnet 4 carried by the mobile robot 2. The mobile robot 2 is finely adjusted in the front-back direction of the mobile robot 2 through the electromagnet 4 carried by the mobile robot 2, so that the mobile robot 2 is guaranteed to always keep high formation precision in the moving process in the direction perpendicular to the front wall, namely, the mobile robot is always aligned with the origin robot 1.
When the second distance value (Y22) of the mobile robot 2 with respect to the left wall is zero, the mobile robot 2 autonomously stops moving to complete the formation. At this time, the mobile robot 2 is attached to the origin robot 1 as shown in fig. 6.
In the present embodiment, since the mobile robot 2 and the origin robot 1 have the same structure, when X21= X11, X22= X12; when Y22=0, Y21= Y11 — robot diameter D (width or length).
As shown in fig. 7 to 8, the top surface of the origin robot 1 is a square; an electromagnet 4 and a Hall sensor 5 are arranged at the four edges of the top surface; the origin robot 1 includes mecanum wheels.
In the embodiment, the robot cluster formation positioning system comprises an origin robot 1, a mobile robot 2, 4 laser ranging sensors and electromagnets carried by the origin robot, 4 laser ranging sensors and electromagnets carried by the mobile robot, and a wireless module; the wireless module is used for communicating the main control module of the origin robot 1 with the main control module of the mobile robot 2. Preferably, the origin robot 1 further includes a communication module for communicating with the mobile robot 2.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A robot cluster formation positioning method is characterized by comprising the following steps:
step 1: placing an origin robot and a mobile robot together in a space with closed periphery; the origin robot and the mobile robot have the same structure; the space wall forming the space is a plane wall and comprises a front wall, a rear wall, a left wall and a right wall;
step 2: the method comprises the steps that a user controls an origin robot to start laser ranging sensors carried by the origin robot, the laser ranging sensors are respectively located in four directions of a space, each laser ranging sensor emits laser and measures a first distance between the laser ranging sensor and a wall of the space, all first distance values are transmitted to the origin robot in real time, and the origin robot rotates in situ according to the first distance values;
and step 3: when the sum of the first distance values corresponding to the front wall and the rear wall is minimum and the sum of the first distance values corresponding to the left wall and the right wall is minimum, the origin robot automatically stops rotating and automatically closes all laser ranging sensors carried by the origin robot to realize the position adjustment of the origin robot; then the origin robot automatically starts an electromagnet carried by the origin robot; meanwhile, the laser ranging sensor transmits the first distance values to the mobile robot through the wireless module;
and 4, step 4: the method comprises the following steps that a user controls a mobile robot to start laser ranging sensors carried by the mobile robot, the laser ranging sensors are respectively located in four directions of a space, each laser ranging sensor emits laser and measures a second distance between the laser ranging sensor and a wall of the space, then the second distance value is transmitted to the mobile robot in real time, and the mobile robot rotates in situ according to the second distance value;
and 5: when the sum of the second distance values corresponding to the front wall and the rear wall is minimum and the sum of the second distance values corresponding to the left wall and the right wall is minimum, the mobile robot automatically stops rotating and automatically closes all laser ranging sensors carried by the mobile robot to realize position adjustment of the mobile robot;
step 6: and (3) the mobile robot autonomously moves towards the front wall, when the second distance value of the mobile robot relative to the front wall is equal to the first distance value of the origin robot relative to the front wall in the step (3), the mobile robot autonomously moves along the direction vertical to the front wall, and when the second distance value of the mobile robot relative to the left wall is zero, the mobile robot autonomously stops moving to finish formation.
2. The robot cluster formation positioning method according to claim 1, wherein in step 6, when the mobile robot moves to a preset distance in a direction perpendicular to the front wall, the mobile robot autonomously turns on an electromagnet carried by the mobile robot and close to one side of the origin robot, reads the change of the magnetic field intensity through a hall sensor carried by the mobile robot and close to one side of the origin robot, and then transmits the magnetic field intensity to the mobile robot in real time; when the magnetic field intensity is maximum, the mobile robot automatically turns off the electromagnet carried by the mobile robot.
3. The robot cluster formation positioning method according to claim 1, wherein the top surface of the origin robot is a square; and four edges of the top surface are provided with an electromagnet and a Hall sensor.
4. The robot cluster formation positioning method of claim 1, wherein the origin robot comprises a mecanum wheel.
5. The robot cluster formation positioning method of claim 1, wherein the space is composed of enclosing walls.
6. A robot cluster formation positioning system is characterized by comprising an origin robot, a mobile robot and a wireless module; the wireless module is used for communicating the main control module of the origin robot with the main control module of the mobile robot.
7. The robot cluster formation positioning system of claim 6, wherein the origin robot further comprises a communication module for communicating with a mobile robot.
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