CN107402575A - A kind of autonomous operation clusters of machines walking navigation control method - Google Patents
A kind of autonomous operation clusters of machines walking navigation control method Download PDFInfo
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- CN107402575A CN107402575A CN201710799660.4A CN201710799660A CN107402575A CN 107402575 A CN107402575 A CN 107402575A CN 201710799660 A CN201710799660 A CN 201710799660A CN 107402575 A CN107402575 A CN 107402575A
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- robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Abstract
The invention discloses a kind of autonomous operation clusters of machines walking navigation control method, and it includes setting robot operation array, robot main controlled node configuration, compiles and edits four steps such as robot operation program and robot operation.Present invention is implemented as this is cheap, control progress is high, on the one hand effectively meet that more robot clusters run the needs of operation on a large scale, improve the independence run in robot running and place adaptability, and incident collision and jam when can effectively avoid the Duo Tai robots from running simultaneously, so as to greatly improve operation stability and the reliability that the synchronous operation operation of Duo Tai robots is, control system when on the other hand effectively simplifying traditional Duo Tai robots operation, the cost of control system is reduced, improves the efficiency of control data interaction.
Description
Technical field
The present invention relates to a kind of robot navigation's control method, belongs to robot device's technical field.
Background technology
As robot device is in daily life and work, robot device has obtained increasing application, especially
To be Duo Tai robots synchronize autonomous operation in a wide range of has great significance to current various fields, currently
During the synchronous operation of Duo Tai robots is carried out, often by respectively to the progress data acquisition of each robot and synchronous operation
The method of control is manipulated, although this mode can meet to use needs, control cost row is to higher, control accuracy phase
To poor, in order to overcome this problem, currently occur directly being controlled wherein one or several in Duo Tai robots, so
Carry out the new control system of data transfer control to remaining robot by the robot directly controlled afterwards, though this control system
The control cost of Duo Tai robots control operation, but the harmony to each robot control room and each machine can be so reduced to a certain degree
The defects of larger be present in terms of the flexibility of device people's autonomous operation, therefore still can not effectively solve Duo Tai robots control fortune
The collision that easily occurs during row, jam, at the same with easily occur each robot in the process of running communication signal interfere and
The reasons such as communication signal transfer rate is low cause to control hysteresis, so as to have a strong impact on that the synchronous operation of Liao Duotai robots is made
The reliability and stability of industry, therefore this phenomenon is directed to, there is an urgent need to develop a kind of robot cluster control method, to meet
The needs of actual use.
The content of the invention
The object of the invention, which is that, overcomes above-mentioned deficiency, there is provided a kind of autonomous operation clusters of machines walking navigation controlling party
Method.
To achieve the above object, the present invention is to be achieved through the following technical solutions：
A kind of autonomous operation clusters of machines walking navigation control method, it comprises the following steps：
The first step, setting robot operation array, according to operation needs, sets the entirety that cluster runs multiple robots first
Quantity, and be unified for every robot and distribute separate address, quantity, operation activity are then run according to robot
In the range for the treatment of of the earth situation, setting cluster operation multiple robots arranged array scheme in the process of running, and according to arrangement
Array approaches plan the autonomous sliding scale in each robot running；
Second step, robot main controlled node configuration, after first step operation is completed, runs in multiple robots from cluster and selects
Some robots select an at least robot as main control service node, then as son control relay services nodes
On the basis of each control relay services node machine people, the remaining each machine of arrangement around each control relay services node machine people
People running position, and with each control relay services node machine people and some machine human world are formed a data control around it
Processed group, the arranged array scheme that the first step is set is divided at least two data control groups, and each data control group is surround
Main control service node is distributed；
3rd step, robot operation program is compiled and edited, after completing second step, multiple robots are run according to cluster first and run
Requirement in journey, with reference to each robot in the arranged array design of scheme cluster operation multiple robots in the first step each
Corresponding avoidance program and emergent stopping are compiled and edit by independent operation program, each robot then run for cluster in multiple robots
Operation program simultaneously downloads in each robot respectively；
4th step, robot operation, after the 3rd step operation is completed, is on the one hand downloaded by each robot according to the 3rd step
Program carries out operation operation, and while operation operation is carried out, machine in each data control group was per capita by data feedback to should
At son control relay services node machine people in data control group, then by sub- control relay services node machine people by data
It is delivered at main control service node robot, then by carrying out data between main control service node robot and tele-control system
Communication, the purpose of cluster operation multiple robots running Zhong Ge robots running state parameter monitoring is realized, is on the other hand existed
In cluster operation multiple robots operation, transmitted first by tele-control system by control data is run to main control service node machine
At device people, then operation control data is assigned to the son of each corresponding data control group by main control service node robot again
Control at relay services node machine people, finally by sub- control relay services node by a control data transmission designated communication
At the robot of location, realize and enter Mobile state adjustment to robot running status.
Further, in the first step, adjacent two machine human world set width as 20-50 centimetres of external series gap.
Further, the son control relay services node machine people in described data control group, is all provided with first sequence
Row control relay services node machine people and at least one second sequence son control relay services node machine people, and first
When sequence son control relay services node machine people is out of service, by the second sequence, son control relay services node machine people replaces
First ray control relay services node machine people is run, described main control service node robot at least two,
One of them is First ray main control service node robot, remaining as the second sequence main control service node robot, and
When First ray main control service node robot is out of service, by by the second sequence main control relay services node machine people
Instead of First ray, main control relay services node machine people is run.
Further, the 3rd described step is when compiling and edit avoidance program and meeting an urgent need program out of service, first with reference to machine
People's self poisoning system and detection of obstacles setting individual machine people's detection of obstacles program and avoidance operation program, are compiled and edit simultaneously
Robot is because external factor is shut down and internal fault shuts down early warning program, then according to individual machine people's avoidance program and answering jerk
Only operation program compiles and edit the avoidance program of each data control group and emergent program out of service.
Cheap present invention is implemented as, control progress is high, on the one hand effectively meets that more robot clusters are transported on a large scale
The needs of row operation, the independence run in robot running and place adaptability are improved, and can effectively avoid more
Incident collision and jam when robot is run simultaneously, it is so as to greatly improve the synchronous operation operation of Duo Tai robots
Operation stability and reliability, control system when on the other hand effectively simplifying traditional Duo Tai robots operation, reduce
The cost of control system, improve the efficiency of control data interaction.
Brief description of the drawings
Fig. 1 is the inventive method schematic flow sheet.
Embodiment
As shown in figure 1, a kind of autonomous operation clusters of machines walking navigation control method, it comprises the following steps：
The first step, setting robot operation array, according to operation needs, sets the entirety that cluster runs multiple robots first
Quantity, and be unified for every robot and distribute separate address, quantity, operation activity are then run according to robot
In the range for the treatment of of the earth situation, setting cluster operation multiple robots arranged array scheme in the process of running, and according to arrangement
Array approaches plan the autonomous sliding scale in each robot running；
Second step, robot main controlled node configuration, after first step operation is completed, runs in multiple robots from cluster and selects
Some robots select an at least robot as main control service node, then as son control relay services nodes
On the basis of each control relay services node machine people, the remaining each machine of arrangement around each control relay services node machine people
People running position, and with each control relay services node machine people and some machine human world are formed a data control around it
Processed group, the arranged array scheme that the first step is set is divided at least two data control groups, and each data control group is surround
Main control service node is distributed；
3rd step, robot operation program is compiled and edited, after completing second step, multiple robots are run according to cluster first and run
Requirement in journey, with reference to each robot in the arranged array design of scheme cluster operation multiple robots in the first step each
Corresponding avoidance program and emergent stopping are compiled and edit by independent operation program, each robot then run for cluster in multiple robots
Operation program simultaneously downloads in each robot respectively；
4th step, robot operation, after the 3rd step operation is completed, is on the one hand downloaded by each robot according to the 3rd step
Program carries out operation operation, and while operation operation is carried out, machine in each data control group was per capita by data feedback to should
At son control relay services node machine people in data control group, then by sub- control relay services node machine people by data
It is delivered at main control service node robot, then by carrying out data between main control service node robot and tele-control system
Communication, the purpose of cluster operation multiple robots running Zhong Ge robots running state parameter monitoring is realized, is on the other hand existed
In cluster operation multiple robots operation, transmitted first by tele-control system by control data is run to main control service node machine
At device people, then operation control data is assigned to the son of each corresponding data control group by main control service node robot again
Control at relay services node machine people, finally by sub- control relay services node by a control data transmission designated communication
At the robot of location, realize and enter Mobile state adjustment to robot running status.
In the present embodiment, in the first step, adjacent two machine human world set width as 20-50 centimetres of external series gap.
In the present embodiment, the son control relay services node machine people in described data control group, one first is all provided with
Sequence control relay services node machine people and at least one second sequence son control relay services node machine people, and the
When one sequence son control relay services node machine people is out of service, by the second sequence son control relay services node machine people's generation
For First ray, son control relay services node machine people is run, described main control service node robot at least two
Individual, one of them is First ray main control service node robot, remaining as the second sequence main control service node robot,
And when First ray main control service node robot is out of service, by by the second sequence main control relay services node machine
People is run instead of First ray main control relay services node machine people.
In the present embodiment, the 3rd described step is when compiling and edit avoidance program and meeting an urgent need program out of service, bonding machine first
Device people's self poisoning system and detection of obstacles setting individual machine people's detection of obstacles program and avoidance operation program, are compiled simultaneously
Robot is ordered because external factor is shut down and internal fault shuts down early warning program, then according to individual machine people's avoidance program and emergent
Program out of service compiles and edit the avoidance program of each data control group and program out of service of meeting an urgent need.
Cheap present invention is implemented as, control progress is high, on the one hand effectively meets that more robot clusters are transported on a large scale
The needs of row operation, the independence run in robot running and place adaptability are improved, and can effectively avoid more
Incident collision and jam when robot is run simultaneously, it is so as to greatly improve the synchronous operation operation of Duo Tai robots
Operation stability and reliability, control system when on the other hand effectively simplifying traditional Duo Tai robots operation, reduce
The cost of control system, improve the efficiency of control data interaction.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
- A kind of 1. autonomous operation clusters of machines walking navigation control method, it is characterised in that described autonomous operation clusters of machines Walking navigation control method comprises the following steps：The first step, setting robot operation array, according to operation needs, sets the overall number that cluster runs multiple robots first Amount, and be unified for every robot and distribute separate address, quantity, operation activity model are then run according to robot Interior treatment of the earth situation is enclosed, setting cluster runs the arranged array scheme of multiple robots in the process of running, and according to ordered array Autonomous sliding scale in each robot running of row programme planning；Second step, robot main controlled node configuration, after first step operation is completed, selected from cluster operation multiple robots some Platform robot is as son control relay services node, and selected at least a robot is as main control service node, then with each On the basis of controlling relay services node machine people, the remaining each robot fortune of arrangement around each control relay services node machine people Line position is put, and some machine human world are formed a data control with each control relay services node machine people and around it Group, the arranged array scheme that the first step is set is divided at least two data control groups, and each data control group is around master Control service node distribution；3rd step, robot operation program is compiled and edited, after completing second step, run first according to cluster in multiple robots running Requirement, it is each independent with reference to each robot in the arranged array design of scheme cluster operation multiple robots in the first step Operation program, each robot then run for cluster in multiple robots compiles and edit corresponding avoidance program and emergent out of service Program simultaneously downloads in each robot respectively；4th step, robot operation, after the 3rd step operation is completed, the program on the one hand downloaded by each robot according to the 3rd step Operation operation is carried out, while operation operation is carried out, the machine in each data control group is per capita by data feedback to the data At son control relay services node machine people in control group, then data are conveyed by sub- control relay services node machine people Lead to main control service node robot, then by carrying out data between main control service node robot and tele-control system News, the purpose of cluster operation multiple robots running Zhong Ge robots running state parameter monitoring is realized, is on the other hand being collected In group's operation multiple robots operation, transmitted first by tele-control system by control data is run to main control service node machine At people, operation control data is then assigned to each the sub of corresponding data control group by main control service node robot again and controlled At relay services node machine people processed, control data is transmitted into a designated communication address finally by sub- control relay services node Robot at, realize robot running status is entered Mobile state adjustment.
- 2. a kind of autonomous operation clusters of machines walking navigation control method according to claim 1, it is characterised in that first In step, adjacent two machine human world set width as 20-50 centimetres of external series gap.
- 3. a kind of autonomous operation clusters of machines walking navigation control method according to claim 1, it is characterised in that described Data control group in son control relay services node machine people, be all provided with First ray control relay services Node station Device people and at least one second sequence son control relay services node machine people, and in First ray control relay services node When robot is out of service, First ray control relay services are replaced by the second sequence son control relay services node machine people Node machine people is run, described main control service node robot at least two, and one of them is First ray master control Uniform business node machine people, remaining as the second sequence main control service node robot, and services in First ray main control and saves When point robot is out of service, by being relayed by the second sequence main control relay services node machine people instead of First ray main control Service node robot is run.
- 4. a kind of autonomous operation clusters of machines walking navigation control method according to claim 1, it is characterised in that described The 3rd step compile and edit avoidance program and meet an urgent need program out of service when, first with reference to robot self poisoning system and barrier Detection setting individual machine people's detection of obstacles program and avoidance operation program, at the same compile and edit robot because external factor is shut down and Internal fault shuts down early warning program, then compiles and edit each data control according to individual machine people's avoidance program and program out of service of meeting an urgent need Processed group of avoidance program and program out of service of meeting an urgent need.
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| CN201710799660.4A CN107402575A (en) | 2017-09-07 | 2017-09-07 | A kind of autonomous operation clusters of machines walking navigation control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108268036A (en) * | 2018-01-19 | 2018-07-10 | 刘晋宇 | A kind of novel robot intelligent barrier avoiding system |
| CN108803598A (en) * | 2018-05-08 | 2018-11-13 | 南方科技大学 | A kind of polar region multiple robots operating system and Synergistic method |
| CN108789409A (en) * | 2018-06-21 | 2018-11-13 | 中科新松有限公司 | A kind of robot control method, device, medium and robot cluster |
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| US8326461B1 (en) * | 2008-06-19 | 2012-12-04 | The United States Of America As Represented By The Secretary Of The Army | Auxiliary communication system for radio controlled robots |
| CN101968646A (en) * | 2010-09-16 | 2011-02-09 | 苏州盖娅智能科技有限公司 | Intelligent cluster control system and control method thereof |
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| CN108268036A (en) * | 2018-01-19 | 2018-07-10 | 刘晋宇 | A kind of novel robot intelligent barrier avoiding system |
| CN108803598A (en) * | 2018-05-08 | 2018-11-13 | 南方科技大学 | A kind of polar region multiple robots operating system and Synergistic method |
| CN108789409A (en) * | 2018-06-21 | 2018-11-13 | 中科新松有限公司 | A kind of robot control method, device, medium and robot cluster |
| CN108789409B (en) * | 2018-06-21 | 2022-02-11 | 中科新松有限公司 | Robot control method, device, medium and robot cluster |
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Application publication date: 20171128 |