CN106020179A - Novel multimachine coordinated control system and method for spherical amphibious robot - Google Patents
Novel multimachine coordinated control system and method for spherical amphibious robot Download PDFInfo
- Publication number
- CN106020179A CN106020179A CN201610628757.4A CN201610628757A CN106020179A CN 106020179 A CN106020179 A CN 106020179A CN 201610628757 A CN201610628757 A CN 201610628757A CN 106020179 A CN106020179 A CN 106020179A
- Authority
- CN
- China
- Prior art keywords
- amphibious
- control
- robot
- spherical
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 32
- 238000004891 communication Methods 0.000 claims abstract description 139
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 35
- 238000012546 transfer Methods 0.000 claims description 17
- 230000009193 crawling Effects 0.000 claims description 16
- 230000000875 corresponding effect Effects 0.000 claims description 9
- 238000011835 investigation Methods 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 230000002457 bidirectional effect Effects 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 238000012800 visualization Methods 0.000 claims description 3
- 238000011160 research Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a novel multimachine coordinated control system for a spherical amphibious robot. The multimachine coordinated control system is characterized by comprising a main end control unit, an auxiliary end control unit and a wireless data communication unit. By adopting the character that communication based on a ZigBee communication protocol under a low signal to noise ratio is excellent, the error rate of detection task execution of the spherical amphibious robot is reduced, a point-to-point transmission mode is adopted, and the problem that an existing spherical amphibious robot control structure is single is solved; according to the communication system, a main and auxiliary hiberarchy is adopted to allocate the level of the spherical amphibious robot, and the work planning efficiency of the spherical amphibious robot is improved.
Description
(1) technical field:
The invention belongs to multirobot controlled in wireless field, especially a kind of amphibious machine of novel ball
The multimachine coordinated control system of people and control method.
(2) background technology:
Present stage, multirobot research have become as in robot research subject one important and have
There is the research direction of good development prospect.For the wireless control method of multi-robot system, multimachine
Device people coordinates the field such as control and launches research and be one too and have most important theories and realistic meaning
Research work.Spherical amphibious robot can realize in water and two kinds of environmental movements on land because of it, makes
The type robot is with a wide range of applications, be included in life, the field such as industrial, military.
Although having developed now robot be also in the primary stage, perform the limited in one's ability of task, but at it
In the situation developed rapidly, and start whole commercial production, space and ocean are explored and the mankind
The each side of life produces huge positive impact, the most also to safeguarding that country's rights and interests contribute.
There are many countries to be devoted to study the control method of multirobot at present both at home and abroad, are abroad correlated with
Research carry out relatively early, developed country has been walked before the world in terms of the control to robot
Row, the achievement of correlational study is more.China state natural sciences fund entrust, Commission of Science, Technology and Industry for National Defence and
Under the subsidy energetically of 863 high-tech research development plans etc., Harbin Engineering University, electronics technology are big
, Beijing University of Post & Telecommunication, Beijing Institute of Technology, Nanjing Aero-Space University etc. are the most all to ball-type machine
Device people and amphibious robot control field have been carried out research and have had made some progress, but with abroad
Compare and still have bigger gap.
The control program of existing device of the most independently diving, robot and spherical amphibious multirobot exists
Problems with:
(1) use such as existing autonomous underwater vehicle, robot has cable control more, constrains machine
The mobility of device people
The robot diameter that present stage develops is relatively large, it is impossible to enough adapt to narrow and complex environment
Operation, and use propeller to drive, noise is relatively big, and the consumption to electric energy is of a relatively high, simultaneously
Need robot is controlled, although robot has cableless communication can solve subproblem, but machine
The mobility of device people is severely limited, and amphibious robot is by there being cable to control in military field
The most easily give away one's position under application conditions.
(2) existing underwater robot, underwater hiding-machine and amphibious robot use one to one mostly
Control mode, control mode is single, lacks the ability of multi-robot coordination motion
The research of multirobot control method has become an important directions in robotics research,
It is filled with novelty, is provided simultaneously with good perspective, be a kind of extremely important and possess prospect
Research direction.For the architecture of multi-robot control system, multi-robot coordination is theoretical
Conducting a research, this is a research work with most important theories and realistic meaning.
Although research team has been achieved with great breakthrough in terms of ball shape robot both at home and abroad, but still
So there are some problems: 1) control structure of most of ball-type amphibious robots is single, can only pass through
The one amphibious child robot of billiard ball type is implemented to control by upper computer control module；2) most of ball-types are amphibious
Robot, when low signal-to-noise ratio controlled environment, easily occurs that control signal loss, robot are out of control
Phenomenon；3) most spherical amphibious robot can be only done single task role in performing task process, and
Task can not be completed by the way of coordination is formed into columns.
(3) summary of the invention:
The multimachine that it is an object of the invention to propose a kind of novel ball amphibious robot is coordinated to control system
System and control method, utilize XBee mould based on ZigBee communication agreement under Low SNR
The feature that block communication conditions is excellent, overcomes the deficiencies in the prior art, is a kind of simple in construction, logical
News clear in structure is reasonable, easy to operate system and control method.
Technical scheme: the multimachine coordinated control system of a kind of novel ball amphibious robot,
It is characterized in that it includes main side control unit, from end control unit and wireless data communication unit；
Described wireless data communication unit is by the main side wireless communication module in the control unit of main side with from end control
Constituting from end wireless communication module in unit processed；Described main side wireless communication module with from end control
Connected by bidirectional wireless communication mode between unit.
Described main side wireless communication module and from end wireless communication module between assisted by ZigBee communication
View realizes bidirectional wireless communication mode and connects.
Described main side control unit also includes upper computer control module；Described upper computer control module with
Connect in serial port between the wireless communication module of main side.
Described upper computer control module is based on LabVIEW (Laboratory Virtual Instrument
Engineering Workbench virtual instrument) controller, it is possible to achieve spherical for multiple stage
The visualization of amphibious robot controls.
Described upper computer control module sends to main side wireless communication module by the way of serial communication
Control command, each from end wireless communication module and main side wireless communication module between by based on
The wireless communication mode of ZigBee communications protocol connects, and every amphibious child robot of billiard ball shape can pass through
Carry receives the control command from upper computer control module from end wireless communication module.
The described spherical amphibious child robot composition also included from end control unit no less than 1；Institute
State with spherical amphibious child robot equipped with respective master control borad；Described spherical amphibious child robot
Master control borad is connected in serial port with between end wireless communication module.
Described wireless data communication unit is to be switched through by XBee wireless data transfer module and communication link
The plate that refoots is constituted；Wherein said XBee wireless data transfer module is with communication connection conversion base plate respectively
It is arranged on every amphibious child robot of billiard ball shape；The main side of described XBee wireless data transfer module
It is connected in serial port between wireless communication module with upper computer control module；Described XBee
The master control borad from end wireless communication module and spherical amphibious child robot of wireless data transfer module it
Between in serial communication connected mode connect.
Described XBee wireless data transfer module is communication module based on ZigBee communication agreement.
The multimachine control method for coordinating of a kind of novel ball amphibious robot, it is characterised in that it includes
Following steps:
(1) upper computer control module by the way of controlled in wireless to each spherical amphibious child robot
Coordinate control；Upper computer control module is built and is completed by LabVIEW operation interface；
(2) coordinate the control of upper computer control module, set up spherical amphibious child robot motion mode:
1. crawling exercise mode and divertical motion mode: spherical amphibious child robot is respectively received
After crawling exercise mode control instruction or divertical motion mode control instruction, perform crawling exercise respectively
Mode controls or divertical motion mode controls.
The control information that the upper computer control module received is sent by the most spherical amphibious child robot
Message back is to upper computer control module, after spherical amphibious child robot performs required movement, waits
Accept the new control information of upper computer control module, cease and desist order if execution action runs into,
Terminate motor program at once, transfer spherical amphibious child robot init state, the i.e. amphibious son of ball-type to
Robot is static, to treat again to receive new action directive；
(3) point-to-multipoint controls network, and carries out formation process in a network:
By changing the control mode of wireless communication module, the network belonging to wireless communication module is set
Mode of operation, and then fixing spherical amphibious child robot is in spherical amphibious robot multimachine coordination system
In status be terminal pattern, spherical amphibious child robot after receiving control instruction signal, energy
Enough according to the crawling exercise mode set or the organized motion of divertical motion mode.
(4) communication between upper computer control module and spherical amphibious child robot is built:
1. upper computer control module and main side wireless communication module are based on serial port communicating protocol
USART transmission means, spherical amphibious child robot from end wireless transport module and spherical amphibious son
Being linked by serial port between robot body, main side wireless communication module is wireless with from end
Wirelessly transmission of control signals between communication module, spherical amphibious child robot can will be received
To control signal call, thus produce motion mode；
Signal controlled for success can also be returned by the most spherical amphibious child robot body by serial mode
Pass to from end wireless communication module, in the way of wireless data streaming, pass back to PC control mould
The main side wireless communication module that block is connected；
3. upper computer control module is completed to main side wireless telecommunications mould by LabVIEW operation interface
Block output control command, by main side wireless communication module in the way of serial communication and PC control
The serial interface of module connects, and upper computer control module passes through virtual instrument serial ports integrated driving VISA
Send control signal or receive the controlled signal of spherical amphibious child robot passback.
Described step (1) operates interface based on LabVIEW in upper computer control module, is used for
State variable is shown and buttonization operation；Described button is by channel selection button, control
Status indicator, coordinate control knob, frequency adjusting knob, address choice frame, stop button and
Spherical amphibious child robot performs instruction control knob and constitutes；Specific works method is by following steps structure
Become:
1. performed the channel selecting of recursion instruction by channel selection button, set first passage and be used for
Connecting the main side wireless communication module of upper computer control module, second channel is that reserved passageway is for supplying
Later stage expanding function uses；
2. controlled state mark is for showing that spherical amphibious child robot performs the state of action command,
If receive the controlled signal of spherical amphibious child robot passback, display " OK " is to represent that state connects
Success；If receive the controlled signal of spherical amphibious child robot passback and show " ERROR ", then
Represent that upper computer control module is unsuccessful with the connection status of spherical amphibious child robot；
3. when pressing coordination control knob, spherical amphibious child robot is performed init state to treat
Receive control command, creep frequency adjusting spherical amphibious child robot, visit according to performing investigation
The difference of the environment terrain of survey task, needs spherical amphibious child robot to perform investigation detection respectively and appoints
During business, press the control knob that spherical amphibious child robot is corresponding, by upper computer control module pair
Spherical amphibious child robot is controlled；
The most spherical amphibious child robot motion frequency adjusts knob and is equivalent to a clock control circuit,
One signal period of spherical amphibious child robot leg steering wheel is 20ms, so given clock week
Phase is the integral multiple of 20ms, to control the traveling frequency of spherical amphibious child robot leg exercise, from
And reach to control the purpose of spherical amphibious child robot crawling exercise speed；
5. every amphibious child robot of billiard ball shape all can be pressed with the execution instruction control of spherical amphibious child robot
A button correspondence in button, by its respective control knob, it is achieved spherical amphibious child robot
During scouting, need single control when each accomplishing a task all by oneself, make spherical amphibious
Child robot completes respective corresponding actions.
The operation principle of the present invention: the multimachine control method for coordinating of a kind of novel ball amphibious robot
Utilize XBee module communication conditions based on ZigBee communication agreement under Low SNR excellent
Feature, for this feature, by the upper computer control module association to spherical amphibious child robot
Regulation and control system is to reach the mutual real-time of the information of system, when special circumstances operation, and PC control
Module utilizes wireless communication module to send control information to spherical amphibious child robot, and can be right
Spherical amphibious child robot coordinates control, and spherical amphibious child robot is receiving control instruction
After, perform different tasks respectively, after completing investigation detection, data can be passed through channel radio
News module sends host computer to for analysis.Utilize upper computer control module to each spherical amphibious son
Robot carries out the controlled in wireless of point-to-multipoint, and it is amphibious with spherical to realize upper computer control module
The feature of two-way communication between child robot.This system can be applied in following each big field,
Spherical amphibious child robot can be formed into columns, it is achieved to the spherical amphibious child robot of different squads
Complete different task planning and the requirement of coordinative operation.
The multimachine control method for coordinating of a kind of novel ball amphibious robot is transmitted by wireless signal
Mode, controls information dispersion formula and passes to the spherical amphibious child robot of multiple stage, it is achieved be spherical to each
The long-range control of amphibious child robot, and coordinate to control, after spherical amphibious child robot is controlled
It is able to carry out the order of host computer.
It is single that described a kind of novel ball amphibious robot multimachine control method for coordinating includes that main side controls
Unit and from end control unit, wherein main side control unit is upper computer control module and main side channel radio
News module is used for coordinating whole spherical amphibious multirobot network, and upper computer control module is by master
End wireless communication module sends control information, and multiple spherical amphibious child robots receive order simultaneously,
And perform corresponding order.Spherical amphibious child robot during execution task by installing biography additional
Sensor gathers data record and preserves, and is sent to host computer；Multiple spherical amphibious child robots can
To be unified formation control by upper computer control module, spherical amphibious child robot is carrying out formation process
After, enhance the ability of packet execution task, as entered narrow space, or step-wise execution difference is appointed
Business.
The core of wireless communication module is served as by XBee module based on ZigBee communication agreement,
XBee communication module is communication module based on ZigBee communication agreement, by configuring this module
Attribute, it is possible to make it serve as different roles, XBee module can complete the signal of point-to-multipoint and pass
Defeated pattern, this pattern can effectively perform the spherical amphibious multimachine set by upper computer control module
Device people coordinates control program command (CP command).Equipped with this module on each spherical amphibious child robot, spherical two
Child robot of dwelling can be set up and connect each other.The wireless communication module configuration structure of host computer is association
Adjusting device pattern, the wireless communication module of spherical amphibious child robot is configured to terminal pattern, accomplishes reality
Time multicast function.Spherical amphibious child robot be loaded with from end wireless communication module and robot
Master control borad is connected by serial mode, logical between upper computer control module and main side wireless communication module
Cross serial mode to connect, main side wireless communication module and between end wireless communication module by wireless
Mode transmit signal.Operator can pass through upper computer control module to each from end wireless telecommunications
Module exports different task signals respectively.
Upper computer control module builds and utilizes LabVIEW development environment, including setting VISA environment
Variable, formulate control knob bunch, arrange Boolean logic control knob, set cyclic variable, foundation
Coordination exercise controls program and sends instruction and the transmission of multiple stage spherical amphibious child robot motion control program
Instruction, assigned frequency logical variable input function and foundation.
The 12V voltage of battery supply can not be directly connected to AVR single chip, needs to pass through LM2596
12V voltage is converted to 5V voltage supply single-chip microcomputer by Voltage stabilizing module, and the both positive and negative polarity of battery connects
The input both positive and negative polarity of LM2596 Voltage stabilizing module, the output both positive and negative polarity of LM2596 Voltage stabilizing module connects
5V to single-chip microcomputer plate inputs and GND earth terminal.
Spherical amphibious child robot motion mode includes crawling exercise mode and divertical motion mode:
Spherical amphibious child robot motor control is completed, at spherical amphibious handset device in ICCAVR7 environment
After people is respectively received different control information, calls different motion modes respectively and control.Passage
Select button is the big frame select button of underlying programs block diagram, can perform the channel of recursion instruction
Select, currently fix first passage and connect the upper computer control module of spherical amphibious child robot,
Second channel is that reserved passageway uses for later stage expanding function；State sign frame can show
The state that program is run, if program receives the instruction of spherical amphibious child robot passback, shows " OK "
To represent state successful connection, if program receives the instruction of spherical amphibious child robot passback and shows
Time " ERROR ", then it represents that program is unsuccessful with the connection status of spherical amphibious child robot；When beating
When driving " coordination " button in program, display lamp is lighted, and creeps adjusting spherical amphibious child robot
After frequency, press the control knob corresponding to a certain spherical amphibious child robot, can be by upper
Spherical amphibious child robot is controlled by machine software；Spherical amphibious child robot motion frequency adjusts
Knob is a clock control circuit at program bottom, the one of spherical amphibious child robot leg steering wheel
The individual signal period is 20ms, so the given integral multiple that clock cycle is 20ms, institute here
What the clock cycle write inputted is the time of 20ms integral multiple, controls spherical amphibious child robot lower limb
The traveling frequency of portion's motion, to control the movement velocity that spherical amphibious child robot is creeped；Spherical two
Child robot of dwelling performs assignment instructions control knob respectively and can detect at spherical amphibious child robot
During examining, and use when spherical amphibious child robot needs individuality to accomplish a task all by oneself, be used for
Control single spherical amphibious child robot and complete corresponding actions.
The present invention is advantageous in that: 1, have employed under Low SNR based on ZigBee communication
The feature that the XBee module communication conditions of agreement is excellent, changes conventional communications efficiency low, holds
Carry the communication modes that channel capacity is little, it is achieved that the Control on Communication under Low SNR, significantly drop
Low spherical amphibious multirobot is performing the fault rate of investigation detection mission, solves conventional ball-type
Amphibious robot easily occurs that dropout, robot are out of control during performing investigation detection mission
The problem of phenomenon；2, the multimachine control method for coordinating of this novel ball amphibious robot uses point-to-points
The transmission means of point, changes the transmission means of conventional spherical amphibious multirobot dominating pair of vertices point,
Solve and by upper computer control module, the one amphibious child robot of billiard ball type can only be implemented control in the past
System, is greatly improved the efficiency of spherical amphibious multi robot processing planning；3, the method uses principal and subordinate to divide
Level belonging to level structure configuration host computer and spherical amphibious robot, it is possible to spherical amphibious many machines
People coordinates control and formation processes, and solves conventional spherical amphibious robot in execution task
During can be only done single task role, asking of task can not be completed by the way of coordination is formed into columns
Topic.
(4) accompanying drawing explanation:
Fig. 1 is the multimachine coordinated control system of a kind of novel ball amphibious robot involved by the present invention
Overall structure block diagram.
Fig. 2 is the multimachine control method for coordinating of a kind of novel ball amphibious robot involved by the present invention
Control flow schematic diagram.
Fig. 3 is the multimachine control method for coordinating of a kind of novel ball amphibious robot involved by the present invention
Network controls configuration diagram.
Fig. 4 is the multimachine control method for coordinating of a kind of novel ball amphibious robot involved by the present invention
Based on LabVIEW operation interface schematic diagram in upper computer control module.
Fig. 5 is the multimachine control method for coordinating of a kind of novel ball amphibious robot involved by the present invention
Spherical amphibious child robot program execution flow schematic diagram.
(5) detailed description of the invention:
Embodiment: the multimachine control method for coordinating (see Fig. 1) of a kind of novel ball amphibious robot,
It is characterized in that it includes main side control unit, from end control unit and wireless data communication unit；
Described wireless data communication unit is by the main side wireless communication module in the control unit of main side with from end control
Constituting from end wireless communication module in unit processed；Described main side wireless communication module with from end control
Connected by bidirectional wireless communication mode between unit.
Described main side wireless communication module and from end wireless communication module between assisted by ZigBee communication
View realizes bidirectional wireless communication mode and connects (see Fig. 1).
Described main side control unit (see Fig. 1) also includes upper computer control module；Described host computer control
It is connected in serial port between molding block with main side wireless communication module.
Described upper computer control module is controller based on LabVIEW, it is possible to achieve for multiple stage
The visualization of spherical amphibious robot controls.
Described upper computer control module sends to main side wireless communication module by the way of serial communication
Control command, each from end wireless communication module and main side wireless communication module between by based on
The wireless communication mode of ZigBee communications protocol connects, and every amphibious child robot of billiard ball shape can pass through
Carry receives the control command from upper computer control module from end wireless communication module.
Described from holding control unit (see Fig. 1) also to include the spherical amphibious child robot no less than 1
Constitute；Equipped with respective master control borad with described spherical amphibious child robot；Described spherical amphibious son
The master control borad of robot is connected in serial port with between end wireless communication module.
In this embodiment, the amphibious child robot of ball-type is 3, and 3 amphibious child robots of ball-type are also
Row relation, is denoted as 1#～3#.
Described wireless data communication unit is to be switched through by XBee wireless data transfer module and communication link
The plate that refoots is constituted；Wherein said XBee wireless data transfer module is with communication connection conversion base plate respectively
It is arranged on every amphibious child robot of billiard ball shape；The main side of described XBee wireless data transfer module
It is connected in serial port between wireless communication module with upper computer control module；Described XBee
The master control borad from end wireless communication module and spherical amphibious child robot of wireless data transfer module it
Between in serial communication connected mode connect.
Described XBee wireless data transfer module is communication module based on ZigBee communication agreement.
The multimachine control method for coordinating (see Fig. 2) of a kind of novel ball amphibious robot, it controls spy
Property is that it comprises the following steps:
(1) upper computer control module amphibious handset device spherical to 1#～3# by the way of controlled in wireless
People coordinates control；Building of upper computer control module is completed by LabVIEW operation interface；
(2) coordinate the control of upper computer control module, set up spherical amphibious child robot motion mode:
1. crawling exercise mode and the spherical amphibious child robot of divertical motion mode: 1# and 2# are respectively
After receiving crawling exercise mode control instruction and divertical motion mode control instruction, 1# ball-type is amphibious
Child robot performs crawling exercise mode and controls, and the amphibious child robot of 2# ball-type performs divertical motion side
Formula controls；
2. the control that the upper computer control module received is sent by the spherical amphibious child robot of 1#～3#
The message back of information is to upper computer control module, and the spherical amphibious child robot of 1#～3# performs to specify and moves
After work, wait the new control information of upper computer control module to be subjected, if execution action runs into
Cease and desist order, terminate motor program at once, transfer spherical amphibious child robot init state to, both
The amphibious child robot of ball-type is static, to treat again to receive new action directive；
(3) point-to-multipoint controls network (see Fig. 3), and carries out formation process in a network:
By changing the control mode of wireless communication module, the network belonging to wireless communication module is set
Mode of operation, and then determine that upper computer control module is in ball-type amphibious robot multimachine coordination system
For coordinator pattern, the spherical amphibious child robot of 1#～3# coordinates system at spherical amphibious robot multimachine
In for terminal pattern, the spherical amphibious child robot of 1#～3# after receiving control instruction signal, energy
Enough according to crawling exercise mode, divertical motion mode and the organized motion of forward travel mode；
(4) communication between upper computer control module and spherical amphibious child robot is built:
1. upper computer control module and main side wireless communication module are based on serial port communicating protocol
USART transmission means, spherical amphibious child robot from end wireless transport module and spherical amphibious son
Being linked by serial port between robot body, main side wireless communication module is wireless with from end
Wirelessly transmission of control signals between communication module, spherical amphibious child robot can will be received
To control signal call, thus produce motion mode；
Signal controlled for success can also be returned by the most spherical amphibious child robot body by serial mode
Pass to from end wireless communication module, in the way of wireless data streaming, pass back to PC control mould
The main side wireless communication module that block is connected；
3. upper computer control module is completed to main side wireless telecommunications mould by LabVIEW operation interface
Block output control command, by main side wireless communication module in the way of serial communication and PC control
The serial interface of module connects, and upper computer control module passes through virtual instrument serial ports integrated driving VISA
Send control signal or receive the controlled signal of spherical amphibious child robot passback.
Described step (1) operates interface (see figure based on LabVIEW in upper computer control module
4), for state variable being shown and buttonization operation；Described button is to be pressed by channel selecting
Button, controlled state mark, coordination control knob, frequency adjusting knob, address choice frame, stopping
Button and the spherical amphibious child robot of 1#～3# perform instruction control knob and constitute；Specific works method
It is made up of following steps:
1. performed the channel selecting of recursion instruction by channel selection button, set first passage and be used for
Connecting the main side wireless communication module of upper computer control module, second channel is that reserved passageway is for supplying
Later stage expanding function uses；
2. controlled state mark is for showing that the spherical amphibious child robot of 1#～3# performs action command
State, if receive 1#～3# spherical amphibious child robot passback controlled signal, display " OK " with
Expression state successful connection；If receiving the controlled signal of 1#～3# spherical amphibious child robot passback and showing
When showing " ERROR ", then it represents that upper computer control module and the company of the spherical amphibious child robot of 1#～3#
Connect state unsuccessful；
3. when pressing coordination control knob, the spherical amphibious child robot of 1#～3# is performed initialization shape
State, i.e. ball-type amphibious robot are static with control command to be received, spherical amphibious adjusting 1#～3#
Child robot is creeped frequency, according to the difference of the environment terrain performing investigation detection mission, needs
When the spherical amphibious child robot of 1#～3# performs to investigate detection mission respectively, press spherical amphibious handset device
The control knob that people is corresponding, is carried out by upper computer control module amphibious child robot spherical to 1#～3#
Control respectively；
The most spherical amphibious child robot motion frequency adjusts knob and is equivalent to a clock control circuit,
One signal period of spherical amphibious child robot leg steering wheel is 20ms, so given clock week
Phase is the integral multiple of 20ms, to control the traveling frequency of spherical amphibious child robot leg exercise, from
And reach to control the purpose of spherical amphibious child robot crawling exercise speed；
5. every amphibious child robot of billiard ball shape all can perform instruction with spherical amphibious child robot 1#～3#
A button correspondence in control knob, by its respective control knob, it is achieved spherical amphibious son
During robot is scouted, need single control when accomplishing a task all by oneself, make spherical two
Child robot of dwelling completes respective corresponding actions.
The spherical amphibious handset of the multimachine control method for coordinating of described a kind of novel ball amphibious robot
Device people's program execution flow (see Fig. 5), the spherical amphibious child robot system of first 1#～3# is through initial
Changing startup program, robot remains static and is ready to carry out task, it may be judged whether receive host computer
The control command of control module, if there being the control command that upper computer control module sends, receives control
System order also performs control command and changes kinestate, if being not received by upper computer control module
The control command sent, does not the most change kinestate；Spherical amphibious child robot 1#～3# is to host computer
Control module sends control information, and notice upper computer control module is the most controlled, if completing host computer
The control command of control module then quits a program, if ball-type amphibious child robot 1#～3# remains unfulfilled
The control command of position machine control module, performs to judge whether to receive upper computer control module the most again
Control command, in all program finishes execution backed off after random programs.
Claims (10)
1. the multimachine coordinated control system of a novel ball amphibious robot, it is characterised in that its bag
Include main side control unit, from end control unit and wireless data communication unit；Described wireless data leads to
News unit by the main side wireless communication module in the control unit of main side and from end control unit from end
Wireless communication module is constituted；Described main side wireless communication module and between end control unit by double
Connect to wireless communication mode.
The multimachine of a kind of novel ball amphibious robot is coordinated to control system
System, it is characterised in that described main side wireless communication module and from end wireless communication module between pass through
ZigBee communication protocol realization bidirectional wireless communication mode connects.
The multimachine of a kind of novel ball amphibious robot is coordinated to control system
System, it is characterised in that described main side control unit also includes upper computer control module；Described host computer
It is connected in serial port between control module with main side wireless communication module.
The multimachine of a kind of novel ball amphibious robot is coordinated to control system
System, it is characterised in that described upper computer control module is controller based on LabVIEW, Ke Yishi
Visualization referring now to the spherical amphibious robot of multiple stage controls.
The multimachine of a kind of novel ball amphibious robot is coordinated to control system
System, it is characterised in that described upper computer control module by the way of serial communication to main side channel radio
News module transmitting control commands, each between end wireless communication module and main side wireless communication module
Connected by wireless communication mode based on ZigBee communications protocol, every amphibious child robot of billiard ball shape
The control life from upper computer control module can be received from end wireless communication module by carry
Order.
The multimachine of a kind of novel ball amphibious robot is coordinated to control system
System, it is characterised in that described from holding control unit also to include the spherical amphibious handset device no less than 1
People is constituted；Equipped with respective master control borad with described spherical amphibious child robot；Described spherical amphibious
The master control borad of child robot is connected in serial port with between end wireless communication module.
The multimachine of a kind of novel ball amphibious robot is coordinated to control system
System, it is characterised in that described wireless data communication unit is by XBee wireless data transfer module and to lead to
Letter connects conversion base plate and constitutes；Wherein said XBee wireless data transfer module and communication connection conversion
Base plate is separately mounted to every amphibious child robot of billiard ball shape；Described XBee wireless data transmission mould
It is connected in serial port between main side wireless communication module and the upper computer control module of block；Institute
State XBee wireless data transfer module from end wireless communication module and spherical amphibious child robot
Connect in serial communication connected mode between master control borad.
The multimachine of a kind of novel ball amphibious robot is coordinated to control system
System, it is characterised in that described XBee wireless data transfer module is based on ZigBee communication agreement
Communication module.
9. the multimachine control method for coordinating of a novel ball amphibious robot, it is characterised in that its bag
Include following steps:
(1) upper computer control module by the way of controlled in wireless to each spherical amphibious child robot
Coordinate control；Upper computer control module is built and is completed by LabVIEW operation interface；
(2) coordinate the control of upper computer control module, set up spherical amphibious child robot motion mode:
1. crawling exercise mode and divertical motion mode: spherical amphibious child robot is respectively received
After crawling exercise mode control instruction or divertical motion mode control instruction, perform crawling exercise respectively
Mode controls or divertical motion mode controls.
The control information that the upper computer control module received is sent by the most spherical amphibious child robot
Message back is to upper computer control module, after spherical amphibious child robot performs required movement, waits
Accept the new control information of upper computer control module, cease and desist order if execution action runs into,
Terminate motor program at once, transfer spherical amphibious child robot init state, the i.e. amphibious son of ball-type to
Robot is static, to treat again to receive new action directive；
(3) point-to-multipoint controls network, and carries out formation process in a network:
By changing the control mode of wireless communication module, the network belonging to wireless communication module is set
Mode of operation, and then fixing spherical amphibious child robot is in spherical amphibious robot multimachine coordination system
In status be terminal pattern, spherical amphibious child robot after receiving control instruction signal, energy
Enough according to the crawling exercise mode set or the organized motion of divertical motion mode.
(4) communication between upper computer control module and spherical amphibious child robot is built:
1. upper computer control module and main side wireless communication module are based on serial port communicating protocol
USART transmission means, spherical amphibious child robot from end wireless transport module and spherical amphibious son
Being linked by serial port between robot body, main side wireless communication module is wireless with from end
Wirelessly transmission of control signals between communication module, spherical amphibious child robot can will be received
To control signal call, thus produce motion mode；
Signal controlled for success can also be returned by the most spherical amphibious child robot body by serial mode
Pass to from end wireless communication module, in the way of wireless data streaming, pass back to PC control mould
The main side wireless communication module that block is connected；
3. upper computer control module is completed to main side wireless telecommunications mould by LabVIEW operation interface
Block output control command, by main side wireless communication module in the way of serial communication and PC control
The serial interface of module connects, and upper computer control module passes through virtual instrument serial ports integrated driving VISA
Send control signal or receive the controlled signal of spherical amphibious child robot passback.
10. coordinate to control according to the multimachine of novel ball amphibious robot a kind of described in claim/9
Method, it is characterised in that grasp based on LabVIEW in upper computer control module in described step (1)
Make interface, for state variable being shown and buttonization operation；Described button is to be selected by passage
Select button, controlled state mark, coordinate control knob, frequency adjusting knob, address choice frame,
Stop button and spherical amphibious child robot perform instruction control knob and constitute；Specific works method
It is made up of following steps:
1. performed the channel selecting of recursion instruction by channel selection button, set first passage and be used for
Connecting the main side wireless communication module of upper computer control module, second channel is that reserved passageway is for supplying
Later stage expanding function uses；
2. controlled state mark is for showing that spherical amphibious child robot performs the state of action command,
If receive the controlled signal of spherical amphibious child robot passback, display " OK " is to represent that state connects
Success；If receive the controlled signal of spherical amphibious child robot passback and show " ERROR ", then
Represent that upper computer control module is unsuccessful with the connection status of spherical amphibious child robot；
3. when pressing coordination control knob, spherical amphibious child robot is performed init state to treat
Receive control command, creep frequency adjusting spherical amphibious child robot, visit according to performing investigation
The difference of the environment terrain of survey task, needs spherical amphibious child robot to perform investigation detection respectively and appoints
During business, press the control knob that spherical amphibious child robot is corresponding, by upper computer control module pair
Spherical amphibious child robot is controlled；
The most spherical amphibious child robot motion frequency adjusts knob and is equivalent to a clock control circuit,
One signal period of spherical amphibious child robot leg steering wheel is 20ms, so given clock week
Phase is the integral multiple of 20ms, to control the traveling frequency of spherical amphibious child robot leg exercise, from
And reach to control the purpose of spherical amphibious child robot crawling exercise speed；
5. every amphibious child robot of billiard ball shape all can be pressed with the execution instruction control of spherical amphibious child robot
A button correspondence in button, by its respective control knob, it is achieved spherical amphibious child robot
During scouting, need single control when each accomplishing a task all by oneself, make spherical amphibious
Child robot completes respective corresponding actions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610628757.4A CN106020179A (en) | 2016-08-01 | 2016-08-01 | Novel multimachine coordinated control system and method for spherical amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610628757.4A CN106020179A (en) | 2016-08-01 | 2016-08-01 | Novel multimachine coordinated control system and method for spherical amphibious robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106020179A true CN106020179A (en) | 2016-10-12 |
Family
ID=57133697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610628757.4A Pending CN106020179A (en) | 2016-08-01 | 2016-08-01 | Novel multimachine coordinated control system and method for spherical amphibious robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106020179A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150340A (en) * | 2017-05-26 | 2017-09-12 | 云南电网有限责任公司电力科学研究院 | A kind of multiple robots control device |
| CN107402575A (en) * | 2017-09-07 | 2017-11-28 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation clusters of machines walking navigation control method |
| CN108023862A (en) * | 2016-11-03 | 2018-05-11 | 上海大学 | A kind of unmanned vehicle group system and control method based on Zigbee remote controls |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN108686900A (en) * | 2018-04-18 | 2018-10-23 | 上海理工大学 | Multirobot cable insulation coats operating system control system |
| CN109213043A (en) * | 2018-09-26 | 2019-01-15 | 南京工程学院 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
| CN116776382A (en) * | 2023-06-27 | 2023-09-19 | 上海有有电子商务有限公司 | Intelligent networking business terminal connection system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201512016U (en) * | 2009-11-09 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Paddle driving amphibious robot |
| CN102486648A (en) * | 2010-12-03 | 2012-06-06 | 北京理工大学 | Autonomic mobile robot platform |
| CN102530256A (en) * | 2012-03-13 | 2012-07-04 | 北京理工大学 | Air-ground amphibious task set |
| US20120215355A1 (en) * | 2009-08-06 | 2012-08-23 | The Regents Of The University Of California | Multimodal Dynamic Robotic Systems |
| CN202771260U (en) * | 2012-09-05 | 2013-03-06 | 浙江大学 | Intelligent safety patrol system based on DaNI mobile robot platform |
| CN102981504A (en) * | 2012-11-21 | 2013-03-20 | 浙江大学 | System and method for controlling formations of a plurality of robots based on Zigbee communication |
| CN103197680A (en) * | 2013-03-26 | 2013-07-10 | 上海大学 | Amphibious all-terrain mobile robot control system |
| CN103529848A (en) * | 2013-10-22 | 2014-01-22 | 南京邮电大学 | Coordinated control method for multiple incomplete robots by using disturbing signals |
| CN103895835A (en) * | 2014-04-04 | 2014-07-02 | 西北工业大学 | Warship hull descaling and flaw detecting system |
| CN105014672A (en) * | 2015-08-20 | 2015-11-04 | 常州先进制造技术研究所 | Control system of wearable robot for helping disabled |
| CN205899377U (en) * | 2016-08-01 | 2017-01-18 | 天津理工大学 | Novel spherical amphibious robot's multimachine coordinated control system |
-
2016
- 2016-08-01 CN CN201610628757.4A patent/CN106020179A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120215355A1 (en) * | 2009-08-06 | 2012-08-23 | The Regents Of The University Of California | Multimodal Dynamic Robotic Systems |
| CN201512016U (en) * | 2009-11-09 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Paddle driving amphibious robot |
| CN102486648A (en) * | 2010-12-03 | 2012-06-06 | 北京理工大学 | Autonomic mobile robot platform |
| CN102530256A (en) * | 2012-03-13 | 2012-07-04 | 北京理工大学 | Air-ground amphibious task set |
| CN202771260U (en) * | 2012-09-05 | 2013-03-06 | 浙江大学 | Intelligent safety patrol system based on DaNI mobile robot platform |
| CN102981504A (en) * | 2012-11-21 | 2013-03-20 | 浙江大学 | System and method for controlling formations of a plurality of robots based on Zigbee communication |
| CN103197680A (en) * | 2013-03-26 | 2013-07-10 | 上海大学 | Amphibious all-terrain mobile robot control system |
| CN103529848A (en) * | 2013-10-22 | 2014-01-22 | 南京邮电大学 | Coordinated control method for multiple incomplete robots by using disturbing signals |
| CN103895835A (en) * | 2014-04-04 | 2014-07-02 | 西北工业大学 | Warship hull descaling and flaw detecting system |
| CN105014672A (en) * | 2015-08-20 | 2015-11-04 | 常州先进制造技术研究所 | Control system of wearable robot for helping disabled |
| CN205899377U (en) * | 2016-08-01 | 2017-01-18 | 天津理工大学 | Novel spherical amphibious robot's multimachine coordinated control system |
Non-Patent Citations (5)
| Title |
|---|
| LIN BI ET AL.: "Virtual Prototyping Technology-based Dynamics Analysis for an Amphibious Spherical Robot", 《PROCEEDING OF THE 2015 IEEE》 * |
| 史雨雨 等: "输电线路巡检机器人远程测控系统的研究与实现", 《测控技术》 * |
| 宋海涛 等: "基于无线网络C/S模式的多机器人协调控制研究", 《传感器与微系统》 * |
| 庄皓岚 等: "多节履带式机器人系统组成和越障性能研究", 《测控技术》 * |
| 郭书祥 等: "多功能两栖生物型子母机器人系统研究", 《科技导报》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108023862A (en) * | 2016-11-03 | 2018-05-11 | 上海大学 | A kind of unmanned vehicle group system and control method based on Zigbee remote controls |
| CN107150340A (en) * | 2017-05-26 | 2017-09-12 | 云南电网有限责任公司电力科学研究院 | A kind of multiple robots control device |
| CN107150340B (en) * | 2017-05-26 | 2020-04-21 | 云南电网有限责任公司电力科学研究院 | Robot group control device |
| CN107402575A (en) * | 2017-09-07 | 2017-11-28 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation clusters of machines walking navigation control method |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN108686900A (en) * | 2018-04-18 | 2018-10-23 | 上海理工大学 | Multirobot cable insulation coats operating system control system |
| CN109213043A (en) * | 2018-09-26 | 2019-01-15 | 南京工程学院 | A kind of Amphibious spherical monitoring measuring table based on LoRa Internet of Things |
| CN116776382A (en) * | 2023-06-27 | 2023-09-19 | 上海有有电子商务有限公司 | Intelligent networking business terminal connection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106020179A (en) | Novel multimachine coordinated control system and method for spherical amphibious robot | |
| CN103901889A (en) | Multi-robot formation control path tracking method based on Bluetooth communications | |
| CN103101054B (en) | Mobile phone is to the programming of robot and Controlling System | |
| CN101216711A (en) | Amphibious mechanical crab step control device and control method | |
| CN103324178A (en) | Wireless robot long-range control system based on WIFI | |
| CN102981504A (en) | System and method for controlling formations of a plurality of robots based on Zigbee communication | |
| CN110977981A (en) | Robot virtual reality synchronization system and synchronization method | |
| CN205899377U (en) | Novel spherical amphibious robot's multimachine coordinated control system | |
| CN106020178A (en) | Autonomous spherical amphibious multi-robot communication system and working method thereof | |
| CN111414688A (en) | Mobile robot simulation system and method based on UNITY engine | |
| CN103064329A (en) | Photovoltaic device data collection system and implementation method based on singlechip | |
| CN103777634A (en) | Large-size spherical robot control system | |
| CN205679960U (en) | A kind of single wheel self-balancing Intelligent teaching robot | |
| CN102622082A (en) | Method for controlling computer based on mobile phone sensors | |
| CN203600249U (en) | Motion control device of industrial robot | |
| CN106708034A (en) | Implementation method for controlling walking path of robot on basis of mobile phone | |
| CN205899376U (en) | Spherical amphibious multi -robot communication system of autonomic formula | |
| CN105904460A (en) | Control system for real-time human-simulated dance robot | |
| CN110682303A (en) | Intelligent robot training device, control system and method | |
| CN105425660A (en) | Analysis matching work method realizing human body behavior determination through inertia sensor | |
| Zhu et al. | Design of a modular snake robot and control with Internet of Things | |
| CN211375373U (en) | Double-circuit DC brushless motor servo driver of inspection robot | |
| CN209377613U (en) | A kind of control system of ultrasonic device | |
| CN206946696U (en) | Split type control system for motion platform | |
| CN106425682A (en) | Control system for drill postures of parallel drilling device and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161012 |
|
| WD01 | Invention patent application deemed withdrawn after publication |