CN103389699A - Robot monitoring and automatic mobile system operation method based on distributed intelligent monitoring controlling nodes - Google Patents
Robot monitoring and automatic mobile system operation method based on distributed intelligent monitoring controlling nodes Download PDFInfo
- Publication number
- CN103389699A CN103389699A CN2013102962209A CN201310296220A CN103389699A CN 103389699 A CN103389699 A CN 103389699A CN 2013102962209 A CN2013102962209 A CN 2013102962209A CN 201310296220 A CN201310296220 A CN 201310296220A CN 103389699 A CN103389699 A CN 103389699A
- Authority
- CN
- China
- Prior art keywords
- robot
- environment
- node
- monitoring
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a robot monitoring and automatic mobile system operation method based on distributed intelligent monitoring controlling nodes. A robot monitoring and automatic mobile system based on the distributed intelligent monitoring controlling nodes is built and comprises the intelligent monitoring controlling nodes and a server; a real environment map is drawn and matched with real map coordinates; the server filers and blends image collection result data of all the intelligent monitoring controlling nodes in each cycle; the filtered and blended result data is used for generating a real-time control instruction of the robot and distributing the instruction to a corresponding intelligent monitoring controlling node. The method has the advantages of greatly reducing robot body manufacture cost and achieving robot dead-corner-free monitoring due to the fact that a widely used monitoring camera replaces traditional robot induction devices such as a laser and a speedometer, adopting the distributed structure, greatly improving system expandability and achieving expansion of a monitoring range due to the fact that the number of the nodes can be conveniently increased and reduced at will.
Description
Technical field
The present invention relates to a kind of based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system.Can be used for large-scale indoor and outdoor surroundings such as office building, plant area, road etc.Utilize the intellectual monitoring that carries camera and radiofrequency launcher to control node the robot in guarded region is identified and controls, thereby realize that robot cruises and Mission Operations.
Background technology
Along with the development of Robotics, robot has started to enter into the auxiliary people of human environment and has carried out daily job task., for a mobile robot that need to complete appointed task in human environment, need to have the ability of real-time perception external environment condition.Existing autonomous service robot need to be equipped with laser sensor, odometer mostly, infrared, numerous sensors of sonar sensor obtain external information, thereby carry out self-align.And in order to adapt to mankind's complex environment, there is very high demand in robot to precision and the investigative range of sensor, thereby has caused robot to involve great expense.How to reduce costs on the basis that guarantees the robot performance is robot runs in extension process a difficult problem and challenge.
On the other hand, supervisory system starts to popularize at present,, as the supervisory system for residential quarter, mainly adopts embedded system to carry camera, and with network video server, is connected, and this distributed structure/architecture makes the increase and decrease of camera very convenient.Can check each guarded region according to electronic chart the server end user, transfer the image constantly in each zone.But present supervisory system function singleness, just enlarge the monitoring visual field as image capture device for the Security Personnel.
Utilize the sensor of existing supervisory system as robot, by uniform server, carry out obtaining and analyzing of monitoring video information, thereby guidance machine people motion control can greatly reduce the requirement of robot for self-sensor and computing.And in monitoring visual field, all robots can share the Video processing object information, for the cost control of batch robot, inborn advantage are arranged.Supervisory system day by day perfect now, the kinetic control system that utilizes existing video monitoring information to carry out multirobot possesses great application and promotion prospect.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system.
Step based on the operation method of the supervisory control of robot of distributed intelligence Monitoring and Controlling node and autonomous system is as follows:
1) build supervisory control of robot and autonomous system based on distributed intelligence Monitoring and Controlling node, system comprises: server, web-transporting device, more than one intelligent node master control arithmetic element, radiofrequency emitting module, more than one camera, the more than one robot that walks in environment; Intelligent node master control arithmetic element is connected with more than one camera with radiofrequency emitting module, forms intellectual monitoring and controls node; Server is controlled node by web-transporting device and more than one intellectual monitoring and is connected; The robot that walks in environment is monitored and is controlled by system;
2) inside and outside parameter of calibration for cameras and distortion parameter, and the address of configuration radiofrequency emitting module;
3) according to real environment map making in the map structuring of server and editor module, and with true map reference, mate;
4) each intellectual monitoring control node carries out video image acquisition and processing online, obtains walking in the information of barrier in the machine human and environment in environment, and by web-transporting device, is sent to server;
5) server carries out filtering and fusion to the image acquisition result data of all intellectual monitorings control nodes in this cycle, and the user interactive module in result data input server is shown alternately;
6) result data after filtering is merged is updated in the quaternary tree map, carries out the more than one real-time route planning that walks in the robot in environment, level and smooth and keep away barrier, obtains the more than one steering order that walks in the robot in environment.
7) range of control of controlling radiofrequency emitting module in node according to each intellectual monitoring is distributed the robot list in environment of walking in of administering, and the robot that walks in environment of cross-node is provided the address switchover instruction;
The robot steering order network that instruction is connected to have set up with the address switchover connection that 8) will walk in environment is distributed to each intellectual monitoring control node.
described server comprises: the filtering Fusion Module of network communication module, data, radio frequency address administration module, map structuring and editor module, path planning and navigation module, user interactive module, the network communication module is utilized the I/O completing port in network model to process a plurality of intellectual monitorings and is controlled the concurrent asynchronous I/O request of node, filtering Fusion Module with the image recognition result of a plurality of requests in same period input data, fusion results is upgraded the observation information in this cycle and by user interactive module, shows alternately in conjunction with the off-line map of drawing in map structuring and editor module, the path planning and navigation module uses the real-time planning control of observation information to walk in the navigation task of the robot in environment, and generation movement instruction, be distributed to radio frequency address administration module, radio frequency address administration module is according to the position that walks in the robot in environment and speed command generates final steering order and by the network communication module, send to corresponding intellectual monitoring to control node.
Described step 2) be: the image coordinate of utilizing the calibration point coordinate that arranges in real world and each camera to identify is carried out matching and calibration, thereby for each camera has been set up the point of a world coordinates and image coordinate to list, intelligent node master control arithmetic element utilizes this list to generate and preserve the parameter of camera, comprising 11 inside and outside parameter and 4 distortion parameters, totally 15 parameters; Carry out the frequency configuration according to the channel situation of the region of radiofrequency emitting module, at first determine the installation region of each radiofrequency emitting module and detect the signal intelligence of each frequency address in this zone, then select the radiofrequency emitting module in the best frequency address configuration zone of communication, finally with this frequency address registration to intelligent node master control arithmetic element.
Described step 5) is: the result data that server is controlled node to all intellectual monitorings of this cycle carries out filtering and fusion; Filtering is to utilize autoregressive filter to obtain to walk in robot position and speed image accurately in environment; And merging the processing that refers to following several situations: the first when having a plurality of intellectual monitorings control nodes to monitor the same robot that walks in environment, merges two information that walk in the robot in environment; It two is when intellectual monitoring is controlled the wrong identification of node, in conjunction with historical information, the robot information that walks in environment in this cycle is revised.
described step 6) is: the rate control instruction that generates the robot in walking in environment in the map that represents with quaternary tree, at first use the A star algorithm to walk in the planning of the robot static path in environment, and the peripheral grid that walks in the robot position in environment in the consideration map is big or small, large-sized grid produces attractive force to the robot that walks in environment, undersized grid produces repulsive force to the robot that walks in environment, again attractive force and repulsive force normalization are obtained planning the side-play amount of central point, make the motion that walks in the robot in environment more away from barrier, guarantee safety, then use the bungee algorithm to carry out smoothing processing to the motion path that walks in the robot in environment, reduce quantity and the angular dimension of path middle polyline, the speed-optimization of robot under the DYNAMIC COMPLEX environment that uses finally the dynamic window method to realize walking in environment controlled, be that robot in walking in environment opens up a velocity window space in namely between fixing hour, and consider to walk in the constraint of robot in environment maximal rate and peak acceleration in motion process, with the motion that walks in the robot in environment towards, maximize and carry out normalized and distribute corresponding weights with distance, the speed of barrier, realize hiding dynamic barrier.
The present invention adopts monitoring vision system stimulated replacement laser and odometer to realize location and the navigation programming of robot, and it is little to break through traditional sensing equipment sensing range, the defect of the full map perception that can't realize; Design the intellectual monitoring of an a kind of integrated above camera and radiofrequency emitting module and controlled node; By all robot paths of servers' layout and motion control instruction and control node through intellectual monitoring and carry out the instruction distribution, and has friendly interactive interface.
The present invention has very real use promotional value: substitute conventional machines people's awareness apparatus such as laser, odometer with the monitoring camera that extensively exists at present, greatly reduce the manufacturing cost of robot body; Realize without dead angle, monitoring of robot by the radio-frequency module that distributes; In task when cooperation of carrying out multirobot, can the full cartographic information of perception and carry out unified planning; Adopt distributed structure/architecture, greatly strengthened the extendability of system, thereby can increase and decrease arbitrarily very easily the expansion of number of nodes realization to monitoring range.
Therefore, the present invention is a kind of very practical, efficient robotic control system, has good application prospect.
Description of drawings
Fig. 1 is based on supervisory control of robot and the autonomous system architecture diagram of distributed intelligence Monitoring and Controlling node;
Fig. 2 is the software flow pattern of server of the present invention;
Fig. 3 is the program runnable interface figure of server of the present invention;
Fig. 4 (a) is the original map that the present invention draws;
Fig. 4 (b) is the quaternary tree map that the present invention draws;
Fig. 5 is virtual laser schematic diagram of the present invention
Fig. 6 is path planning schematic diagram of the present invention;
Fig. 7 is dynamic obstacle avoidance procedure chart of the present invention, and wherein Fig. 7 (a) is away from state, and Fig. 7 (b) is the state of meeting, and Fig. 7 (c) is released state;
Fig. 8 is radio frequency address switchover schematic diagram of the present invention, the handoff procedure of the frequency that uses when it has described robotary by (a) to (d).
Embodiment
, below in conjunction with accompanying drawing, describe the present invention in detail and utilize distributed intelligence Monitoring and Controlling node to realize that robot locates in real time, path planning and navigation; The filtering of multinode data and fusion; The distribution of steering order; The close friend is user interactions easily.
As shown in Figure 1, 2, the step based on the operation method of the supervisory control of robot of distributed intelligence Monitoring and Controlling node and autonomous system is as follows:
1) build supervisory control of robot and autonomous system based on distributed intelligence Monitoring and Controlling node, system comprises: server 1, web-transporting device 2, more than one intelligent node master control arithmetic element 3, radiofrequency emitting module 4, more than one camera 5, the more than one robot 6 that walks in environment; Intelligent node master control arithmetic element 3 is connected with more than one camera 5 with radiofrequency emitting module 4, forms intellectual monitoring and controls node; Server 1 is controlled node by web-transporting device 2 and more than one intellectual monitoring and is connected; The robot 6 that walks in environment is monitored and is controlled by system;
2) inside and outside parameter of calibration for cameras 5 and distortion parameter, and the address of configuration radiofrequency emitting module 4;
3) according to real environment map making in the map structuring of server 1 and editor module, and with true map reference, mate;
4) each intellectual monitoring is controlled node and is carried out online video image acquisition and processing, obtains walking in the information of barrier in robot 6 in environment and environment, and by web-transporting device 2, is sent to server;
5) the image acquisition result data of 1 pair of interior all intellectual monitorings control node of this cycle of server carries out filtering and fusion, and the user interactive module in result data input server 1 is shown alternately;
6) result data after filtering is merged is updated in the quaternary tree map, carries out the more than one real-time route planning that walks in the robot 6 in environment, level and smooth and keep away barrier, obtains the more than one steering order that walks in the robot 6 in environment.
7) range of control of controlling radiofrequency emitting module in node according to each intellectual monitoring is distributed robot 6 lists in environment of walking in of administering, and the robot 6 that walks in environment of cross-node is provided the address switchover instruction;
The robot 6 steering orders network that instruction is connected to have set up with the address switchover connection that 8) will walk in environment is distributed to each intellectual monitoring control node.
described server 1 comprises: the filtering Fusion Module of network communication module, data, radio frequency address administration module, map structuring and editor module, path planning and navigation module, user interactive module, its software flow pattern is seen Fig. 2, the network communication module is utilized the I/O completing port in network model to process a plurality of intellectual monitorings and is controlled the concurrent asynchronous I/O request of node, filtering Fusion Module with the image recognition result of a plurality of requests in same period input data, fusion results is upgraded the observation information in this cycle and by user interactive module, shows alternately in conjunction with the off-line map of drawing in map structuring and editor module, the path planning and navigation module uses the real-time planning control of observation information to walk in the navigation task of the robot 6 in environment, and generation movement instruction, be distributed to radio frequency address administration module, radio frequency address administration module is according to the position that walks in the robot 6 in environment and speed command generates final steering order and by the network communication module, send to corresponding intellectual monitoring to control node.
Described step 2) be: the image coordinate of utilizing the calibration point coordinate that arranges in real world and each camera 5 to identify is carried out matching and calibration, thereby for each camera 5 has been set up the point of a world coordinates and image coordinate to list, intelligent node master control arithmetic element 3 utilizes this list to generate and preserve the parameter of camera 5, comprising 11 inside and outside parameter and 4 distortion parameters, totally 15 parameters; Carry out the frequency configuration according to the channel situation of the region of radiofrequency emitting module 4, at first determine the installation region of each radiofrequency emitting module 4 and detect the signal intelligence of each frequency address in this zone, then select the radiofrequency emitting module 4 in the best frequency address configuration zone of communication, finally with this frequency address registration to intelligent node master control arithmetic element 3.
Described step 5) is: the result data that 1 pair of all intellectual monitoring of this cycle of server are controlled node carries out filtering and fusion; Filtering is to utilize autoregressive filter to obtain to walk in robot 6 position and speed image accurately in environment; And merging the processing that refers to following several situations: the first when having a plurality of intellectual monitorings control nodes to monitor the same robot 6 that walks in environment, merges two information that walk in the robot 6 in environment; It two is when intellectual monitoring is controlled the wrong identification of node, in conjunction with historical information, robot 6 information that walk in environment in this cycle is revised.
described step 6) is: the rate control instruction that generates the robot 6 in walking in environment in the map that represents with quaternary tree, at first use the A star algorithm to walk in the planning of robot 6 static paths in environment, and the peripheral grid that walks in robot 6 positions in environment in the consideration map is big or small, large-sized grid produces attractive force to the robot 6 that walks in environment, undersized grid produces repulsive force to the robot 6 that walks in environment, again attractive force and repulsive force normalization are obtained planning the side-play amount of central point, make the motion that walks in the robot in environment more away from barrier, guarantee safety, then use the bungee algorithm to carry out smoothing processing to the motion path that walks in the robot 6 in environment, reduce quantity and the angular dimension of path middle polyline, the speed-optimization of robot 6 under the DYNAMIC COMPLEX environment that uses finally the dynamic window method to realize walking in environment controlled, be that robot in walking in environment opens up a velocity window space in namely between fixing hour, and consider to walk in the constraint of robot 6 in environment maximal rate and peak acceleration in motion process, with the motion that walks in the robot 6 in environment towards, maximize and carry out normalized and distribute corresponding weights with distance, the speed of barrier, realize hiding dynamic barrier.
Fig. 3 is program runnable interface figure of the present invention.Its scene of describing is: two robots are arranged, and its label is respectively No. 1 and No. 2, is positioned over one in the gallery map of " L " type.It controls purpose is to avoid the barrier arrival destination separately of two greens, and realizes mutually hiding of robot.Interface can be divided into 8 functional areas substantially.The zone toolbar is for the user provides data output switch intuitively, the controllably demonstration of robot, barrier, virtual laser, transmitter range of control in figure.Zone " dotted line map " is the control that the user edits and consults a map, and it is the response control of toolbar simultaneously.Zone " robotary " is direction of motion and rotation direction and the demonstration to utilizing the Keyboard Control robot under manual mode.Zone " node " is ip and the connection status thereof that shows each intellectual monitoring control node.Zone " robotary " be the overall video inner machine people of demonstration directly perceived identification number, coordinate and towards.Zone " obtaining picture " can also show to specifying intellectual monitoring to control node request surveillance map picture at this moment.The mutual transmission of configuration file between server and node is realized in zone " transmitting/receiving file ".The calibration between institute's edit map and true map is realized in zone " automatic Calibration ".By interactive interface, system can be monitored robot and the obstacle information in the overall visual field effectively, all sidedly.In addition, each functional module makes the user carry out information interchange with each node more easily.
Fig. 4,5 has represented how robot carries out perception in map environment.At first, robot need to carry out cartographic information abstract and expression, and the present invention has adopted quad-tree structure to carry out the cartographic representation (see figure 4).Quaternary tree is that map is divided into four lattices to the cardinal rule of map partitioning, if in lattice still a little or during line segment, then with the lattice quartern; , if be white space in lattice, stop dividing, by that analogy.The map constructing method of quaternary tree solves regional partition problem in environment, and namely large free space represents with large grid, and space, barrier place represents with little grid.This division not only makes the motion planning of robot more adapt to actual environment, has also reduced the storage area of map in computing machine.Fig. 4 (a) is manual editing's map; Fig. 4 (b) is the Quadtrees for Representing of map.Secondly, robot needs the perception of tool to map environment, and usage monitoring camera of the present invention substitutes conventional machines people's awareness apparatus such as laser, odometer, fictionalizes the laser awareness apparatus (see figure 5) of robot.Orange line segment in figure represents laser beam, and soft dot is the laser spots data that No. 1 robot utilizes the global image digital simulation to obtain.Its specific practice is that the interior barrier of the overall situation and all the other robots that every two field picture obtains are put into quad-tree structure, and the every virtual laser line that recalculates this moment arranges new laser spots with whether process contains the minimum grid of map or obstacle information herein if having.The method of global image simulated laser is compared with traditional laser sensor, has scope large (360 degree are without dead angle observation), precision high (can automatically adjust according to environmental requirement the width of each laser beam), the characteristics of cost low (same laser spots can be used jointly by different robots).
As shown in Figure 6,7, during the motion of robot in the quaternary tree map, consider that at first the characteristic of map itself realizes static path planning.The present invention adopts the A star algorithm to carry out the static path planning (see figure 6): the A star algorithm is a kind of heuristic search of classics, is directed to the sparse and tree-shaped characteristic of quad-tree structure, can effectively solve optimal path.The key of this searching algorithm success is the formulation of heuristic searching function, in quad-tree structure, be set into:
Wherein: the expression present node is to the distance of destination node; Expression is according to the added value of present node grid size, with grid size negative correlation.Due to the environmental characteristics of two-dimensional map, general with the plan node of the central point of each quaternary tree grid as path.But for the lattice of dividing barrier, make plan node is necessary away from barrier as far as possible.Therefore adopt artificial field of force method to do some adjustment to the plan node in each grid, its basic thought is: the grid size of considering each grid periphery, large-sized grid produces attractive force to it, undersized grid produces repulsive force to it, then these power normalization is obtained planning the side-play amount of central point.Make like this motion of robot more away from barrier, guarantee safety.Then use the bungee algorithm to be optimized corner excessive in path, reduce quantity and the angular dimension of large corner, draw finally the robot motion path.
After the static path of cooking up, need to consider the dynamic object that occurs in map, realize the barrier of keeping away in dynamic environment.Its basic thought is for robot arranges a rational speed configuration space, namely between fixing hour in for robot opens up a velocity window space, final realization is towards the safety of impact point and move fast.Need in the specific implementation to consider to give the content of several respects:
(1) consider the constraint of robot maximal rate and peak acceleration in motion process;
(2) consider feasible speed, make to run into barrier carry out emergency brake and can not collide in the configuration speed space;
While (3) considering search volume will with the robot motion towards, maximize the three with distance, the speed of barrier and consider, to its normalization and distribute corresponding weights.
The present invention adopts the dynamic window method to carry out the dynamic obstacle avoidance (see figure 7), and its scene is that two robots need to travel in opposite directions and arrive destination, and both optimal paths are very similar (seeing Fig. 7 (a)).When two robots reach in opposite directions certain apart from the time, the speed that goes out by the decision-making of dynamic window method can make the direction of motion of two robots mutually depart from (seeing Fig. 7 (b)).Realize that finally keeping away of multirobot hinders and safe separating (seeing Fig. 7 (c)).
As shown in Figure 8, after obtaining the speed command after planning, can generate the instruction of RF spot address switchover according to position and the velocity information at robot place, in figure, circle has represented the range of control of each intellectual monitoring control node, digital R0 in the center of circle represents that it is 0 that this intellectual monitoring is controlled the frequency address of node, by that analogy.Native system mainly divides following several situation to carry out switching controls: when robot is in intellectual monitoring and controls in the range of control of No. 0, node, use intellectual monitoring to control No. 0 transmission speed steering order of node (seeing Fig. 8 (a)); When robot enters intersection region No. 0 from intellectual monitoring control node, still use intellectual monitoring to control No. 0 transmission speed steering order of node (seeing Fig. 8 (b)); Enter intellectual monitoring when robot from intersection region and control No. 1, node when regional, intellectual monitoring is controlled node and is sent the address switchover instruction No. 0, and intellectual monitoring is controlled No. 1 transmission speed steering order of node (seeing Fig. 8 (c)) simultaneously; When robot enters without the radio-frequency coverage area territory by intellectual monitoring control No. 1 zone of node, still use intellectual monitoring to control No. 1 transmission speed steering order of node (seeing Fig. 8 (d)).This control method is controlled node for each intellectual monitoring and has been set the alternate buffer zone of controlling, and has realized the unification of robot motion's the peaceful slip control system of overall situation control.
The present invention utilizes distributed a plurality of intellectual monitoring to control node and has solved monitoring and the control problem of robot under the complex dynamic environment.Utilize global context information to optimize trajectory planning and the motion control of robot; Use configuration and the switching of multifrequency point address to guarantee that robot can use the frequency address of the excellent communication quality of region; The extendability that has strengthened system under distributed framework is strong, thereby can increase and decrease arbitrarily easily the expansion of number of nodes realization to monitoring range.
Claims (5)
1. one kind based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system, it is characterized in that its step is as follows:
1) build supervisory control of robot and autonomous system based on distributed intelligence Monitoring and Controlling node, system comprises: server (1), web-transporting device (2), more than one intelligent node master control arithmetic element (3), radiofrequency emitting module (4), more than one camera (5), the more than one robot (6) that walks in environment; Intelligent node master control arithmetic element (3) is connected with more than one camera (5) with radiofrequency emitting module (4), forms intellectual monitoring and controls node; Server (1) is controlled node by web-transporting device (2) and more than one intellectual monitoring and is connected; The robot (6) that walks in environment is monitored and is controlled by system;
2) inside and outside parameter and the distortion parameter of calibration for cameras (5), and the address of configuration radiofrequency emitting module (4);
3) according to real environment map making in the map structuring of server (1) and editor module, and with true map reference, mate;
4) each intellectual monitoring is controlled node and is carried out online video image acquisition and processing, obtains walking in the information of barrier in robot (6) in environment and environment, and by web-transporting device (2), is sent to server;
5) server (1) carries out filtering and fusion to the image acquisition result data of all intellectual monitorings control nodes in this cycle, and the user interactive module in result data input servers (1) is shown alternately;
6) result data after the filtering fusion is updated in the quaternary tree map, carry out the more than one real-time route planning that walks in the robot (6) in environment, level and smooth and keep away barrier, obtain the more than one steering order that walks in the robot (6) in environment;
7) range of control of controlling radiofrequency emitting module in node according to each intellectual monitoring is distributed robot (6) list in environment of walking in of administering, and the robot (6) that walks in environment of cross-node is provided the address switchover instruction;
Robot (6) the steering order network that instruction is connected to have set up with the address switchover connection that 8) will walk in environment is distributed to each intellectual monitoring control node.
2. according to claim 1 a kind of based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system, it is characterized in that described server (1) comprising: the filtering Fusion Module of network communication module, data, radio frequency address administration module, map structuring and editor module, path planning and navigation module, user interactive module, the network communication module is utilized the I/O completing port in network model to process a plurality of intellectual monitorings and is controlled the concurrent asynchronous I/O request of node, filtering Fusion Module with the image recognition result of a plurality of requests in same period input data, fusion results is upgraded the observation information in this cycle and by user interactive module, shows alternately in conjunction with the off-line map of drawing in map structuring and editor module, the path planning and navigation module uses the real-time planning control of observation information to walk in the navigation task of the robot (6) in environment, and generation movement instruction, be distributed to radio frequency address administration module, (6 position and speed command generate final steering order and also by the network communication module, send to corresponding intellectual monitoring to control node radio frequency address administration module according to walking in robot in environment.
3. according to claim 1 a kind of based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system, it is characterized in that described step 2) be: the image coordinate of utilizing the calibration point coordinate that arranges in real world and each camera (5) to identify is carried out matching and calibration, thereby for each camera (5) has been set up the point of a world coordinates and image coordinate to list, intelligent node master control arithmetic element (3) utilizes this list to generate and preserve the parameter of camera (5), comprising 11 inside and outside parameter and 4 distortion parameters, totally 15 parameters, carry out the frequency configuration according to the channel situation of the region of radiofrequency emitting module (4), at first determine the installation region of each radiofrequency emitting module (4) and detect the signal intelligence of each frequency address in this zone, then select the radiofrequency emitting module (4) in the best frequency address configuration zone of communication, finally with this frequency address registration to intelligent node master control arithmetic element (3).
4. according to claim 1 a kind of based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system, it is characterized in that described step 5) is: the result data that server (1) is controlled node to all intellectual monitorings of this cycle carries out filtering and fusion; Filtering is to utilize autoregressive filter to obtain to walk in robot (6) position and speed image accurately in environment; And merging the processing that refers to following several situations: the first when having a plurality of intellectual monitorings control nodes to monitor the same robot (6) that walks in environment, merges two information that walk in the robot (6) in environment; It two is when intellectual monitoring is controlled the wrong identification of node, in conjunction with historical information, robot (6) information that walks in environment in this cycle is revised.
5. according to claim 1 a kind of based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system, it is characterized in that described step 6) is: the rate control instruction that generates the robot (6) in walking in environment in the map that represents with quaternary tree, at first use the A star algorithm to walk in the planning of robot (6) static path in environment, and the peripheral grid that walks in robot (6) position in environment in the consideration map is big or small, large-sized grid produces attractive force to the robot (6) that walks in environment, undersized grid produces repulsive force to the robot (6) that walks in environment, again attractive force and repulsive force normalization are obtained planning the side-play amount of central point, make the motion that walks in the robot in environment more away from barrier, guarantee safety, then use the bungee algorithm to carry out smoothing processing to the motion path that walks in the robot (6) in environment, reduce quantity and the angular dimension of path middle polyline, the speed-optimization of robot (6) under the DYNAMIC COMPLEX environment that uses finally the dynamic window method to realize walking in environment controlled, be that robot in walking in environment opens up a velocity window space in namely between fixing hour, and consider to walk in the constraint of robot (6) in environment maximal rate and peak acceleration in motion process, with the motion that walks in the robot (6) in environment towards, maximize and carry out normalized and distribute corresponding weights with distance, the speed of barrier, realize hiding dynamic barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310296220.9A CN103389699B (en) | 2013-05-09 | 2013-07-15 | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173600.3 | 2013-05-09 | ||
| CN2013101736003 | 2013-05-09 | ||
| CN201310173600 | 2013-05-09 | ||
| CN201310296220.9A CN103389699B (en) | 2013-05-09 | 2013-07-15 | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103389699A true CN103389699A (en) | 2013-11-13 |
| CN103389699B CN103389699B (en) | 2015-08-12 |
Family
ID=49533998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310296220.9A Active CN103389699B (en) | 2013-05-09 | 2013-07-15 | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103389699B (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106103006A (en) * | 2014-03-06 | 2016-11-09 | 库卡系统有限责任公司 | Manufacture work station, manufacture equipment and method |
| CN106325277A (en) * | 2016-09-28 | 2017-01-11 | 关健生 | Distributed framework based autonomous navigation and inspection robot control method |
| US9588520B2 (en) | 2015-06-18 | 2017-03-07 | Kinpo Electronics, Inc. | Positioning navigation method and electronic apparatus thereof |
| CN106550611A (en) * | 2015-07-23 | 2017-03-29 | 美国iRobot公司 | Beacon is matched with mobile robot |
| WO2017173990A1 (en) * | 2016-04-07 | 2017-10-12 | 北京进化者机器人科技有限公司 | Method for planning shortest path in robot obstacle avoidance |
| CN107368074A (en) * | 2017-07-27 | 2017-11-21 | 南京理工大学 | A kind of autonomous navigation method of robot based on video monitoring |
| RU2641465C1 (en) * | 2016-03-28 | 2018-01-17 | СиЭрЭрСи ЦИНДАО СЫФАН РОЛЛИН СТОК РИСЁРЧ ИНСТИТЬЮТ КО., ЛТД. | CHIP AND METHOD OF CONTROLLING START OF DIGITAL SIGNAL PROCESSOR TigerSharc |
| CN107728609A (en) * | 2016-08-10 | 2018-02-23 | 鸿富锦精密电子(天津)有限公司 | Intelligent motion control system and intelligent motion control method |
| CN108710107A (en) * | 2018-05-18 | 2018-10-26 | 百年金海科技有限公司 | Robot Passive Location based on infrared laser and positioning video linked system |
| CN108781258A (en) * | 2018-02-12 | 2018-11-09 | 深圳前海达闼云端智能科技有限公司 | Environment information determination method, device, robot and storage medium |
| CN108983783A (en) * | 2018-08-03 | 2018-12-11 | 上海有个机器人有限公司 | A kind of robot movement speed control method and system, storage medium and terminal |
| CN109974686A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Transfer robot path planning householder method based on monitoring camera detection |
| CN110058596A (en) * | 2019-05-21 | 2019-07-26 | 吉林大学 | A kind of multi-robot system adaptively disperses cooperative control method and system |
| CN110088703A (en) * | 2016-12-21 | 2019-08-02 | 德国福维克控股公司 | The method that navigation and self poisoning are carried out to the processing equipment independently advanced |
| CN110167097A (en) * | 2019-04-22 | 2019-08-23 | 北京邮电大学 | Mobile robot transistroute scheme based on weighted metric forwarding and path planning |
| CN110290213A (en) * | 2019-06-28 | 2019-09-27 | 北京金山安全软件有限公司 | Intelligent robot management method and device and electronic equipment |
| CN110324877A (en) * | 2019-04-22 | 2019-10-11 | 北京邮电大学 | Relaying robot method for routing based on servo backbone network Yu Vikor multi-standard decision |
| CN110570687A (en) * | 2018-06-06 | 2019-12-13 | 杭州海康机器人技术有限公司 | AGV control method and device and storage medium |
| CN111435247A (en) * | 2018-12-26 | 2020-07-21 | 沈阳新松机器人自动化股份有限公司 | Robot control method and system and cleaning robot |
| CN111781847A (en) * | 2020-07-10 | 2020-10-16 | 珠海市一微半导体有限公司 | Household control system |
| CN111791228A (en) * | 2019-04-01 | 2020-10-20 | 株式会社安川电机 | Programming assistance device, robot system, and programming assistance method |
| CN112148565A (en) * | 2020-10-29 | 2020-12-29 | 中国人民解放军国防科技大学 | Hierarchical time sequence attribute monitoring method for distributed robot cluster |
| CN112535436A (en) * | 2020-12-02 | 2021-03-23 | 江门市国彬机器人有限公司 | Intelligent walking sweeping robot guiding system |
| CN113400279A (en) * | 2021-06-03 | 2021-09-17 | 南京机器人研究院有限公司 | Industrial robot visual detection and obstacle avoidance system |
| CN113992864A (en) * | 2021-10-20 | 2022-01-28 | 中国电信股份有限公司 | AGV visual navigation system, method, device, electronic equipment and medium |
| CN114237259A (en) * | 2021-12-24 | 2022-03-25 | 上海仙工智能科技有限公司 | Multi-agent path planning method based on floating resources, navigation server and readable storage medium |
| CN116614717A (en) * | 2023-07-20 | 2023-08-18 | 中国市政工程西南设计研究总院有限公司 | Video monitoring method and system for intelligent community |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201742442U (en) * | 2010-05-14 | 2011-02-09 | 上海方润环保科技有限公司 | Cluster coordination system of intelligent service robot |
| US20110280472A1 (en) * | 2010-05-14 | 2011-11-17 | Wallack Aaron S | System and method for robust calibration between a machine vision system and a robot |
| CN102662377A (en) * | 2012-05-17 | 2012-09-12 | 哈尔滨工业大学 | Formation system and formation method of multi-mobile robot based on wireless sensor network |
| CN102914303A (en) * | 2012-10-11 | 2013-02-06 | 江苏科技大学 | Navigation information acquisition method and intelligent space system with multiple mobile robots |
-
2013
- 2013-07-15 CN CN201310296220.9A patent/CN103389699B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201742442U (en) * | 2010-05-14 | 2011-02-09 | 上海方润环保科技有限公司 | Cluster coordination system of intelligent service robot |
| US20110280472A1 (en) * | 2010-05-14 | 2011-11-17 | Wallack Aaron S | System and method for robust calibration between a machine vision system and a robot |
| CN102662377A (en) * | 2012-05-17 | 2012-09-12 | 哈尔滨工业大学 | Formation system and formation method of multi-mobile robot based on wireless sensor network |
| CN102914303A (en) * | 2012-10-11 | 2013-02-06 | 江苏科技大学 | Navigation information acquisition method and intelligent space system with multiple mobile robots |
Non-Patent Citations (1)
| Title |
|---|
| 曾温特: "基于分布式智能的网络机器人系统的研究", 《中国优秀硕士学位论文全文数据库》, 15 December 2011 (2011-12-15) * |
Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106103006A (en) * | 2014-03-06 | 2016-11-09 | 库卡系统有限责任公司 | Manufacture work station, manufacture equipment and method |
| TWI577968B (en) * | 2015-06-18 | 2017-04-11 | 金寶電子工業股份有限公司 | Positioning navigation method and electronic apparatus thereof |
| US9588520B2 (en) | 2015-06-18 | 2017-03-07 | Kinpo Electronics, Inc. | Positioning navigation method and electronic apparatus thereof |
| CN106550611A (en) * | 2015-07-23 | 2017-03-29 | 美国iRobot公司 | Beacon is matched with mobile robot |
| US11115798B2 (en) | 2015-07-23 | 2021-09-07 | Irobot Corporation | Pairing a beacon with a mobile robot |
| RU2641465C1 (en) * | 2016-03-28 | 2018-01-17 | СиЭрЭрСи ЦИНДАО СЫФАН РОЛЛИН СТОК РИСЁРЧ ИНСТИТЬЮТ КО., ЛТД. | CHIP AND METHOD OF CONTROLLING START OF DIGITAL SIGNAL PROCESSOR TigerSharc |
| WO2017173990A1 (en) * | 2016-04-07 | 2017-10-12 | 北京进化者机器人科技有限公司 | Method for planning shortest path in robot obstacle avoidance |
| CN107728609A (en) * | 2016-08-10 | 2018-02-23 | 鸿富锦精密电子(天津)有限公司 | Intelligent motion control system and intelligent motion control method |
| CN106325277A (en) * | 2016-09-28 | 2017-01-11 | 关健生 | Distributed framework based autonomous navigation and inspection robot control method |
| CN110088703A (en) * | 2016-12-21 | 2019-08-02 | 德国福维克控股公司 | The method that navigation and self poisoning are carried out to the processing equipment independently advanced |
| CN110088703B (en) * | 2016-12-21 | 2022-04-26 | 德国福维克控股公司 | Method for navigating and self-positioning an autonomously traveling processing device |
| CN107368074A (en) * | 2017-07-27 | 2017-11-21 | 南京理工大学 | A kind of autonomous navigation method of robot based on video monitoring |
| CN109974686A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Transfer robot path planning householder method based on monitoring camera detection |
| CN108781258A (en) * | 2018-02-12 | 2018-11-09 | 深圳前海达闼云端智能科技有限公司 | Environment information determination method, device, robot and storage medium |
| WO2019153345A1 (en) * | 2018-02-12 | 2019-08-15 | 深圳前海达闼云端智能科技有限公司 | Environment information determining method, apparatus, robot, and storage medium |
| CN108781258B (en) * | 2018-02-12 | 2021-05-28 | 达闼机器人有限公司 | Environment information determination method, device, robot and storage medium |
| CN108710107A (en) * | 2018-05-18 | 2018-10-26 | 百年金海科技有限公司 | Robot Passive Location based on infrared laser and positioning video linked system |
| CN110570687A (en) * | 2018-06-06 | 2019-12-13 | 杭州海康机器人技术有限公司 | AGV control method and device and storage medium |
| CN108983783A (en) * | 2018-08-03 | 2018-12-11 | 上海有个机器人有限公司 | A kind of robot movement speed control method and system, storage medium and terminal |
| CN111435247A (en) * | 2018-12-26 | 2020-07-21 | 沈阳新松机器人自动化股份有限公司 | Robot control method and system and cleaning robot |
| CN111791228B (en) * | 2019-04-01 | 2023-11-17 | 株式会社安川电机 | Programming support device, robot system, and programming support method |
| CN111791228A (en) * | 2019-04-01 | 2020-10-20 | 株式会社安川电机 | Programming assistance device, robot system, and programming assistance method |
| CN110324877A (en) * | 2019-04-22 | 2019-10-11 | 北京邮电大学 | Relaying robot method for routing based on servo backbone network Yu Vikor multi-standard decision |
| CN110167097A (en) * | 2019-04-22 | 2019-08-23 | 北京邮电大学 | Mobile robot transistroute scheme based on weighted metric forwarding and path planning |
| CN110167097B (en) * | 2019-04-22 | 2024-02-20 | 北京邮电大学 | Mobile robot relay routing method based on weighted metric forwarding and path planning |
| CN110058596B (en) * | 2019-05-21 | 2021-12-10 | 吉林省吉创科豹科技有限公司 | Self-adaptive decentralized cooperative control method and system for multi-robot system |
| CN110058596A (en) * | 2019-05-21 | 2019-07-26 | 吉林大学 | A kind of multi-robot system adaptively disperses cooperative control method and system |
| CN110290213A (en) * | 2019-06-28 | 2019-09-27 | 北京金山安全软件有限公司 | Intelligent robot management method and device and electronic equipment |
| CN111781847A (en) * | 2020-07-10 | 2020-10-16 | 珠海市一微半导体有限公司 | Household control system |
| CN112148565A (en) * | 2020-10-29 | 2020-12-29 | 中国人民解放军国防科技大学 | Hierarchical time sequence attribute monitoring method for distributed robot cluster |
| CN112535436A (en) * | 2020-12-02 | 2021-03-23 | 江门市国彬机器人有限公司 | Intelligent walking sweeping robot guiding system |
| CN113400279B (en) * | 2021-06-03 | 2022-05-10 | 南京机器人研究院有限公司 | Industrial robot visual detection and obstacle avoidance system |
| CN113400279A (en) * | 2021-06-03 | 2021-09-17 | 南京机器人研究院有限公司 | Industrial robot visual detection and obstacle avoidance system |
| CN113992864A (en) * | 2021-10-20 | 2022-01-28 | 中国电信股份有限公司 | AGV visual navigation system, method, device, electronic equipment and medium |
| CN114237259A (en) * | 2021-12-24 | 2022-03-25 | 上海仙工智能科技有限公司 | Multi-agent path planning method based on floating resources, navigation server and readable storage medium |
| CN116614717A (en) * | 2023-07-20 | 2023-08-18 | 中国市政工程西南设计研究总院有限公司 | Video monitoring method and system for intelligent community |
| CN116614717B (en) * | 2023-07-20 | 2023-09-22 | 中国市政工程西南设计研究总院有限公司 | Video monitoring method and system for intelligent community |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103389699B (en) | 2015-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103389699B (en) | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system | |
| WO2022021739A1 (en) | Humanoid inspection operation method and system for semantic intelligent substation robot | |
| CN109916393B (en) | Multi-grid-value navigation method based on robot pose and application thereof | |
| CN107097228B (en) | Autonomous traveling robot system | |
| CN107544515A (en) | Multirobot based on Cloud Server builds figure navigation system and builds figure air navigation aid | |
| Recchiuto et al. | Post‐disaster assessment with unmanned aerial vehicles: A survey on practical implementations and research approaches | |
| CN106168805A (en) | The method of robot autonomous walking based on cloud computing | |
| CN106843230A (en) | It is applied to the virtual wall system and its implementation of mobile device | |
| CN107085422A (en) | A kind of tele-control system of the multi-functional Hexapod Robot based on Xtion equipment | |
| CN107515002A (en) | A kind of systems approach and device that the real-time indoor map structure of robot and location navigation are realized based on LiDAR and cloud computing | |
| Li et al. | Localization and navigation for indoor mobile robot based on ROS | |
| CN109283937A (en) | A kind of plant protection based on unmanned plane sprays the method and system of operation | |
| CN108062111A (en) | A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device and barrier-avoiding method | |
| CN111061266A (en) | Night on-duty robot for real-time scene analysis and space obstacle avoidance | |
| CN109035747A (en) | A kind of intelligent family moving platform system and its traffic control method | |
| CN108121333A (en) | Shopping guide robot | |
| CN106647738A (en) | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle | |
| WO2022095060A1 (en) | Path planning method, path planning apparatus, path planning system, and medium | |
| WO2022095067A1 (en) | Path planning method, path planning device, path planning system, and medium thereof | |
| CN109491383A (en) | Multirobot positions and builds drawing system and method | |
| CN114527763B (en) | Intelligent inspection system and method based on target detection and SLAM composition | |
| CN114115289A (en) | Autonomous unmanned cluster reconnaissance system | |
| Li et al. | Depth camera based remote three-dimensional reconstruction using incremental point cloud compression | |
| CN108646759B (en) | Intelligent detachable mobile robot system based on stereoscopic vision and control method | |
| EP4207100A1 (en) | Method and system for providing user interface for map target creation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |