CN103268111A - Networked distribution type multiple-mobile-robot system - Google Patents
Networked distribution type multiple-mobile-robot system Download PDFInfo
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- CN103268111A CN103268111A CN2013102050547A CN201310205054A CN103268111A CN 103268111 A CN103268111 A CN 103268111A CN 2013102050547 A CN2013102050547 A CN 2013102050547A CN 201310205054 A CN201310205054 A CN 201310205054A CN 103268111 A CN103268111 A CN 103268111A
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Abstract
The invention discloses a networked distribution type multiple-mobile-robot system which comprises an upper computer measurement and control system and a multiple-mobile-robot set. The upper computer measurement and control system comprises an upper computer monitoring unit and a communication network unit. Mobile robots make decisions according to sensor information obtained by a sensor detection unit and network information received by the mobile robots, operation conditions of the mobile robots are controlled, and the mobile robots operate in a coordinated mode according to a coordination algorithm of the multiple-mobile-robot set. Compared with the prior art, the networked distribution type multiple-mobile-robot system has the advantages of being simple in structure, strong in function, convenient to develop and the like. Multiple sensors replace a visual processing method, so that data processing complexity is lowered; a ZigBee wireless network based on CC2530 is constructed so that a topological structure of the multiple-mobile-robot set can be conveniently changed, and a good experiment platform is provided for studies such as coordination, fault tolerance and self healing.
Description
Technical field
The present invention relates to the Robot Control Technology field, particularly the distributed multiple-mobile-robot system of a kind of networking.
Background technology
At present, the mobile robot, for example the clearer robot has begun widespread use.The multiple mobile robot has obtained application more and more widely in practical problems.This mainly is because increasing actual task more complicated all, and often single mobile robot is difficult to finish, and need finish by the cooperation between the multiple mobile robot.In addition, by the cooperation between the multiple mobile robot, can improve the efficient of robot system in operation process, and then change or robot system part when breaking down when working environment, the cooperative relationship that multiple-mobile-robot system still can have by itself is finished preset task.Yet, the shortcoming that prior art exists is, to uncertain complex environment, can't install various monitoring equipments or the variation of the network topology structure that caused by robot local fault solution preferably not, thereby the service object of multiple-mobile-robot system or working environment are restricted.At first, research for multi-robot system in the past concentrates on the scene that environmental baseline is known, can install various monitoring instruments mostly, robot itself does not have too much sensor, the first-class monitoring equipment of making a video recording, the variation of perception external environment that therefore can't be autonomous; Secondly, constructing communication network system in the past can realize the communication between the multirobot preferably, but when the robot in the system hinders for some reason and out of service or can't operate as normal the time, its network topology structure should change and can not independently change, this will influence the cooperation between the multirobot.
Therefore be badly in need of the distributed multiple-mobile-robot system of a kind of networking.
Summary of the invention
In view of this, technical matters to be solved by this invention provides the distributed multiple-mobile-robot system of a kind of networking.
The distributed multiple-mobile-robot system of a kind of networking provided by the invention comprises host computer TT﹠C system and multiple mobile robot group, and described host computer TT﹠C system comprises ipc monitor unit and constructing communication network unit; Described ipc monitor unit is used for obtaining and showing the real time kinematics status information that the multiple mobile robot organizes, and sends the motion state that instruction changes multiple mobile robot's group; Described constructing communication network unit is for making up the wireless network between host computer TT﹠C system and the multiple mobile robot group and transmitting the motion state information that exchanges between ipc monitor unit and the multiple mobile robot's group.
Further, described multiple mobile robot's group comprises several mobile robots, and each described mobile robot comprises master controller, motion control unit, sensor detecting unit, power supply unit and communication unit;
Described sensor detecting unit for detection of the running state information of mobile robot, and is sent to master controller with running state information;
Described master controller for the treatment of the motion state information from wireless network and sensor detecting unit, with the instruction of the operation that produces the controlled motion control module, and is transferred to wireless network to the motion state information that processing obtains by communication unit;
Described motion control unit for the steering order of reception, the autonomous controller that is converted, is finished start and stop, the speed governing of mobile robot and is turned to task;
Described power supply unit is used for changing voltage, and supplies with the need for electricity of each unit of mobile robot;
Described communication unit is used for making up the wireless network between host computer TT﹠C system and multiple mobile robot's group and each mobile robot, the information between transmission ipc monitor unit and multiple mobile robot's group and each mobile robot;
The sensor information that described mobile robot obtains according to the sensor detecting unit, be transferred to the information that instruction the mobile robot and adjacent mobile robot send from the host computer TT﹠C system and make a policy, and the tuning algorithm that adopts multiple mobile robot's group controls the working order of mobile robot, makes a plurality of mobile robot's coordinated operations.
Further, described sensor detecting unit comprises photoelectric code disk tachogenerator and ultrasonic sensor;
Described photoelectric code disk tachogenerator is used for recording the travelling speed of mobile robot and delivering to master controller;
Described ultrasonic sensor is used for obtaining distance, the angular position information of adjacent mobile robot or barrier and delivering to master controller.
Further, described power supply unit comprises voltage conversion circuit and electric battery;
Described voltage conversion circuit is used for conversion electric power voltage to meet the voltage requirements of each power unit;
Described electric battery is used for each unit power supply of mobile robot;
Further, described motion control unit comprises DC speed-reducing and driver module,
Described DC speed-reducing is used for driving the operation of mobile robot;
Described driver module, be used for accepting the command information of master controller and finish the mobile robot start and stop, speed governing, turn to;
Described driver module is L298N dual H-bridge driver module.
Further, described constructing communication network unit comprises TT﹠C system constructing communication network unit and mobile robot constructing communication network unit,
Communicate by letter between being used for realizing the host computer TT﹠C system and the multiple mobile robot organizing in described TT﹠C system constructing communication network unit;
Described mobile robot constructing communication network unit, be used for to realize that the host computer TT﹠C system is organized with the multiple mobile robot and each mobile robot between communicate by letter;
Described TT﹠C system constructing communication network unit and mobile robot constructing communication network unit are CC2530 ZigBee constructing communication network module.
Further, described master controller is the STM32F103VET6 embedded scm.
Advantages such as the invention has the advantages that: the present invention adopts networked distributed multiple-mobile-robot system, and compared with prior art, that the distributed multiple-mobile-robot system of networking provided by the invention has is simple in structure, powerful, exploitation is convenient.Replace the visual processes mode with multisensor, reduced the complexity that data are handled; Structure is based on the ZigBee wireless network of CC2530, can change the topological structure of multiple mobile robot's group easily, to coordinate, research such as fault-tolerant, self-healing provides good experiment porch.
Description of drawings
In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing, wherein:
The networked distributed multiple-mobile-robot system synoptic diagram that Fig. 1 provides for the embodiment of the invention;
The networked distributed multiple mobile robot that Fig. 2 provides for the embodiment of the invention utilizes the process flow diagram of tuning algorithm control.
Embodiment
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail; Should be appreciated that preferred embodiment only for the present invention is described, rather than in order to limit protection scope of the present invention.
The networked distributed multiple-mobile-robot system synoptic diagram that Fig. 1 provides for the embodiment of the invention, as shown in the figure: the distributed multiple-mobile-robot system of a kind of networking provided by the invention, comprise host computer TT﹠C system and multiple mobile robot group,
Described host computer TT﹠C system comprises ipc monitor unit and constructing communication network unit;
Described ipc monitor unit is used for showing in real time status information and the velocity information of multiple mobile robot's group, and sends the motion state that instruction changes mobile robot's group, as stop, advancing, retreat, turn left, turn right, accelerate, deceleration etc.;
Described constructing communication network unit for the structure of wireless network between host computer TT﹠C system and the multiple mobile robot's group, makes that information transmission, the exchange between ipc monitor unit and the multiple mobile robot group can effectively be carried out;
Described multiple mobile robot's group comprises several mobile robots, and each described mobile robot comprises master controller, motion control unit, sensor detecting unit, power supply unit and communication unit;
Described master controller, be used for comprehensive information from wireless network and sensor, carry out relevant treatment, decision-making, operation with the controlled motion control module, and the sensor information that processing is obtained and other status informations are shared on wireless network by the constructing communication network unit, and other machines people or host computer are shared.
Described motion control unit be used for to receive, the steering order of the autonomous controller that is converted, finish mobile robot start and stop, speed governing, task such as turn to;
Described sensor detecting unit for detection of position information such as the distance of the travelling speed of mobile robot and adjacent mobile robot or barrier, angles, and is sent to master controller to information;
Described power supply unit is used for changing voltage, and supplies with the need for electricity of each unit of mobile robot;
Described communication unit, the structure that is used for wireless network between host computer TT﹠C system and multiple mobile robot group and each mobile robot makes that information transmission, the exchange between ipc monitor unit and multiple mobile robot group and each mobile robot can effectively be carried out;
Described host computer TT﹠C system is passed through constructing communication network unit and multiple mobile robot's group communication, and sends the motion conditions that steering order is controlled multiple mobile robot's group by the ipc monitor unit;
The sensor information that described mobile robot obtains according to the sensor detecting unit and be transferred to motion state information the mobile robot from the host computer TT﹠C system, and the information that adjacent mobile robot sends makes a policy, and the working order of control mobile robot, and the tuning algorithm of organizing according to the multiple mobile robot makes a plurality of mobile robot's coordinated operations.The networked distributed multiple mobile robot that Fig. 2 provides for the embodiment of the invention utilizes the process flow diagram of tuning algorithm control, as shown in the figure: concrete steps are as follows: at first with each module initialization in the mobile robot, utilize sensor to detect data, wireless network is received and sent messages, judge each mobile robot speed then, whether information such as position satisfy pre-set threshold, if handle otherwise utilize the tuning algorithm controller to carry out tuning algorithm, be transferred to the motion of moving cell control mobile robot after handling, return then and reuse sensor and detect data wireless networks and receive and send messages, finish the work if then judge whether, if then withdraw from current system; If not, then return again and reuse sensor and detect data wireless networks and receive and send messages.
Described sensor detecting unit comprises photoelectric code disk tachogenerator and ultrasonic sensor;
Described photoelectric code disk tachogenerator is used for recording the travelling speed of robot and delivering to master controller;
Described ultrasonic sensor be used for to obtain the position information such as distance, angle of adjacent machines people or barrier and delivers to master controller.
Described power supply unit comprises voltage conversion circuit and electric battery;
Described voltage conversion circuit is used for conversion electric power voltage to meet the voltage requirements of each power unit;
Described electric battery is used for the power supply to each unit of mobile robot;
Described motion control unit comprises DC speed-reducing and driver module,
Described DC speed-reducing is used for providing big moment and suitable rotational speed, drive machines people's operation;
Described driver module, be used for accepting the command information of master controller and finish the mobile robot start and stop, speed governing, turn to;
Described driver module is L298N dual H-bridge driver module.
Described constructing communication network unit comprises TT﹠C system constructing communication network unit and mobile robot constructing communication network unit,
Communicate by letter between being used for realizing the host computer TT﹠C system and the multiple mobile robot organizing in described TT﹠C system constructing communication network unit;
Described mobile robot constructing communication network unit, be used for to realize that the host computer TT﹠C system is organized with the multiple mobile robot and each mobile robot between communicate by letter;
Described TT﹠C system constructing communication network unit and mobile robot constructing communication network unit are CC2530ZigBee constructing communication network module.
Described master controller is the STM32F103VET6 embedded scm.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (7)
1. distributed multiple-mobile-robot system of networking is characterized in that: comprise host computer TT﹠C system and multiple mobile robot group, described host computer TT﹠C system comprises ipc monitor unit and constructing communication network unit; Described ipc monitor unit is used for obtaining and showing the real time kinematics status information that the multiple mobile robot organizes, and sends the motion state that instruction changes multiple mobile robot's group; Described constructing communication network unit is for making up the wireless network between host computer TT﹠C system and the multiple mobile robot group and transmitting the motion state information that exchanges between ipc monitor unit and the multiple mobile robot's group.
2. the distributed multiple-mobile-robot system of networking according to claim 1, it is characterized in that: described multiple mobile robot's group comprises several mobile robots, and each described mobile robot comprises master controller, motion control unit, sensor detecting unit, power supply unit and communication unit;
Described sensor detecting unit for detection of the running state information of mobile robot, and is sent to master controller with running state information;
Described master controller for the treatment of the motion state information from wireless network and sensor detecting unit, with the instruction of the operation that produces the controlled motion control module, and is transferred to wireless network to the motion state information that processing obtains by communication unit;
Described motion control unit for the steering order of reception, the autonomous controller that is converted, is finished start and stop, the speed governing of mobile robot and is turned to task;
Described power supply unit is used for changing voltage, and supplies with the need for electricity of each unit of mobile robot;
Described communication unit is used for making up the wireless network between host computer TT﹠C system and multiple mobile robot's group and each mobile robot, the information between transmission ipc monitor unit and multiple mobile robot's group and each mobile robot;
The sensor information that described mobile robot obtains according to the sensor detecting unit, be transferred to the information that instruction the mobile robot and adjacent mobile robot send from the host computer TT﹠C system and make a policy, and the tuning algorithm that adopts multiple mobile robot's group controls the working order of mobile robot, makes a plurality of mobile robot coordinated operations.
3. the distributed multiple-mobile-robot system of networking according to claim 2, it is characterized in that: described sensor detecting unit comprises photoelectric code disk tachogenerator and ultrasonic sensor;
Described photoelectric code disk tachogenerator is used for recording the travelling speed of mobile robot and delivering to master controller;
Described ultrasonic sensor is used for obtaining distance, the angular position information of adjacent mobile robot or barrier and delivering to master controller.
4. the distributed multiple-mobile-robot system of networking according to claim 2, it is characterized in that: described power supply unit comprises voltage conversion circuit and electric battery; Described voltage conversion circuit is used for conversion electric power voltage to meet the voltage requirements of each power unit; Described electric battery is used for each unit power supply of mobile robot.
5. the distributed multiple-mobile-robot system of networking according to claim 2, it is characterized in that: described motion control unit comprises DC speed-reducing and driver module; Described DC speed-reducing is used for driving the operation of mobile robot; Described driver module is used for accepting the command information of master controller and finishing mobile robot's start and stop, speed governing and turn to task; Described driver module is L298N dual H-bridge driver module.
6. the distributed multiple-mobile-robot system of networking according to claim 1, it is characterized in that: described constructing communication network unit comprises TT﹠C system constructing communication network unit and mobile robot constructing communication network unit,
Communicate by letter between being used for realizing the host computer TT﹠C system and the multiple mobile robot organizing in described TT﹠C system constructing communication network unit;
Described mobile robot constructing communication network unit, be used for to realize that the host computer TT﹠C system is organized with the multiple mobile robot and each mobile robot between communicate by letter;
Described TT﹠C system constructing communication network unit and mobile robot constructing communication network unit are CC2530ZigBee constructing communication network module.
7. the distributed multiple-mobile-robot system of networking according to claim 2, it is characterized in that: described master controller is the STM32F103VET6 embedded scm.
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| US10123220B2 (en) | 2014-02-19 | 2018-11-06 | Huawei Technologies Co., Ltd. | Method and device for wirelessly accessing service |
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| CN104932495A (en) * | 2015-05-13 | 2015-09-23 | 刘鹏军 | Cleaning robot system based on wireless network cooperation work |
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| CN107215404B (en) * | 2016-03-22 | 2021-08-10 | 波音公司 | Robot, robot system and related method |
| CN105892321A (en) * | 2016-04-28 | 2016-08-24 | 京东方科技集团股份有限公司 | Dispatching method and device for cleaning robot |
| CN105892321B (en) * | 2016-04-28 | 2018-11-23 | 京东方科技集团股份有限公司 | A kind of dispatching method and dispatching device of clean robot |
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| CN106230642B (en) * | 2016-08-31 | 2022-02-25 | 天津灵创智恒软件技术有限公司 | Network detection method |
| CN106230642A (en) * | 2016-08-31 | 2016-12-14 | 天津灵创智恒软件技术有限公司 | A kind of network detection method |
| CN107030703A (en) * | 2017-06-09 | 2017-08-11 | 上海岭先机器人科技股份有限公司 | A kind of mobile-robot system |
| CN111065981A (en) * | 2017-09-25 | 2020-04-24 | 日本电产新宝株式会社 | Moving body and moving body system |
| CN108007465A (en) * | 2017-12-11 | 2018-05-08 | 南京工程学院 | Indoor small distance method for positioning mobile robot based on DSP and ultrasonic wave |
| CN109144090A (en) * | 2018-10-22 | 2019-01-04 | 中国人民解放军国防科技大学 | Distributed unmanned aerial vehicle self-driving instrument with networked communication |
| CN109990832A (en) * | 2019-02-28 | 2019-07-09 | 芜湖赛宝机器人产业技术研究院有限公司 | One kind being based on ZigBee technology Portable industrial robot monitoring device |
| CN112123339A (en) * | 2020-10-19 | 2020-12-25 | 哈尔滨理工大学 | Position-constrained multi-mobile-mechanical-arm cooperative transportation control system |
| CN115097816A (en) * | 2022-05-20 | 2022-09-23 | 深圳市大族机器人有限公司 | Modularized multi-robot cooperation control method |
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Application publication date: 20130828 |