CN107336251A - A kind of control method and system of robot queue - Google Patents
A kind of control method and system of robot queue Download PDFInfo
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- CN107336251A CN107336251A CN201610832884.6A CN201610832884A CN107336251A CN 107336251 A CN107336251 A CN 107336251A CN 201610832884 A CN201610832884 A CN 201610832884A CN 107336251 A CN107336251 A CN 107336251A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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Abstract
The present invention relates to a kind of control method of robot queue, including step：(1) each robot receives queued instructions, one of artificial pilot robot of machine, and remaining machine artificially follows robot, pilot robot according to setting speed and Route Work；(2) other robots around Robot Scanning are followed, find the patch image mark in other robots, and judge whether to search out color lump position；(3) after robot searches out color lump position, color lump judgement is carried out, according to setpoint distance positioning, movement；(4) judge whether to form robot queue, be, then send positional information and playbacked, it is no, then continue color lump judgement；(5) after robot does not find color lump position, to backstage upload information, backstage releases queued instructions, sends positional information and is playbacked.The control system of the present invention make use of robotic vision, is tracked, positioned by vision, complete queue, strong adaptability, without extra increase auxiliary equipment.
Description
Technical field
The invention belongs to field of intelligent control, more particularly to a kind of control method and system of robot queue.
Background technology
With the development of robot technology, the function of robot is more and more, and application is also more and more extensive.Meanwhile rely on
Being completed required for robot for task is more and more accurate and complicated, and individual machine people is gradually difficult to complete the target that people formulate.
Multiple robots form robot system, by lining up to be automatically performed assigned tasks, are increasingly becoming the weight of robot field's development
Want trend.Meanwhile line up technology using robot and more multiple robots are managed.
The formation control problem of multirobot is the hot issue of recent control field, and its main task is to make multirobot
Formation control it is more accurate.The formation control of so-called multirobot refers to the process of that multiple robots are reaching target
In, certain presetting formation is kept, while overcome a kind of control technology of interference and the influence of surrounding environment again.More machines
The formation that people keeps certain has following benefit：One is easy for the management to robot；Second, the stabilization of system can be kept
Property and security；Third, overall operating efficiency can be improved.
At present, the robot based on magnetic stripe etc. lines up, it is necessary to pre-set magnetic stripe, all relative complex to place and installation,
It is unfavorable for adaptation of the robot to environment, the robotic team cooperation of complexity can not be completed.Line up control aspect for robot,
Also Behavior-based control method, Artificial Potential Field Method, follow navigator's method, virtual structure method, round-robin method and distributed AC servo system algorithm.Wherein base
It is simple in behavior method control strategy, but the stability of formation control is difficult to ensure that；The control in real time of Artificial Potential Field Method it is outstanding but
It is the difficult design of potential field function；The control accuracy of virtual structure method is high, and shortcoming is a lack of flexibility；The stability of round-robin method is not
It is high；Distributed AC servo system take into account the characteristic of each robot, have stronger flexibility and robustness, and shortcoming is robot
The manufacturing cost of body is higher；Follow navigator's method robot average unit cost low, control is simple, but to the dependence of pilot robot
Larger, reliability is poor.
In view of it is above-mentioned the defects of, the design people, be actively subject to research and innovation, to found a kind of machine of view-based access control model
The control method and system of people's queue, make it with more the value in industry.
The content of the invention
In order to solve the above technical problems, it is an object of the invention to provide one kind to utilize machine vision, robot vision is carried out
Tracking, positioning, complete the control method and system of robot queue, any place and any environment are adapted to, without extra
Increase auxiliary equipment.
The control method of the robot queue of the present invention, including step：
(1) each robot receives queued instructions, one of artificial pilot robot of machine, and remaining machine artificially follows machine
Device people, pilot robot according to setting speed and Route Work；
(2) other robots around Robot Scanning are followed, find the patch image mark in other robots, and judge
Whether color lump position is searched out；
(3) after robot searches out color lump position, color lump judgement is carried out, according to setpoint distance positioning, movement；
(4) judge whether to form robot queue, be, then send positional information and playbacked, it is no, then continue color lump
Judge；
(5) after robot does not find color lump position, to backstage upload information, backstage releases queued instructions, sends position
Confidence breath is playbacked.
Further, when the situation for having robot to take off team occurs, de- team's information is uploaded to backstage, from the background according to current
The queuing message of Tuo Dui robots, cooking up rejoining one's unit for the Tuo Dui robots route or makes the Tuo Dui robots make a return voyage.
Further, in the step (3), before current robot is positioned by positioning the mark of the patch image in image
The position of one robot, and the conduct angle of the skew adjustment current robot according to color lump in whole image, while root
Go out the distance with previous robot according to image recognition, relatively regulated the speed according to the distance with setting.
Further, when color lump judgement is carried out in the step (3), robot rotates head scanning surrounding environment first,
Color lump is found, finds the outline drawing of matching；Then the robot in queue is determined whether according to outline drawing, if so, then continuing
The number information of color lump is identified, according to number information, is positioned, it is no, then continually look for color lump.
The control system of the robot queue of the present invention, including after the robot team formation being made up of multiple robots and control
Platform, in robot team formation, one of artificial pilot robot of machine, remaining machine artificially follows robot；Each machine
Head part front end is provided with camera, rear end identifies provided with patch image；The backstage be used for set pilot robot speed and
Route, to following robot to send queued instructions, to following the patch image identification image that Robot Scanning goes out to carry out at image
Manage and be a row according to image ranging Shi Ge robots equidistant arrangement, de- team's robot planning, which is gone out to rejoin one's unit, route or makes the de- team
Robot makes a return voyage.
Further, the patch image mark includes the number information of robot.
Further, the patch image mark uses the color lump code Design of more palace lattice.
By such scheme, the present invention sends queued instructions by backstage to the robot of one group of arbitrary arrangement, makes machine
People finds color lump, and the target of oneself is identified according to color lump, moves self-position by image ranging, progressively reaches equidistant arrangement
For the purpose of a team, merely with robotic vision during lining up, robot vision tracking, positioning are carried out, completes machine
People's lines up, and can adapt to any place and any environment, without extra increase auxiliary equipment.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the control system frame diagram of the present invention；
Fig. 2 is the control flow chart of the present invention；
Color lump decision flow chart in Fig. 3 control flow charts.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Referring to Fig. 1, a kind of control system of robot queue described in a preferred embodiment of the present invention, including by multiple machines
The robot team formation and control backstage that device people forms, in robot team formation, one of artificial pilot robot of machine, remaining machine
Device artificially follows robot；Each robot head front end is provided with camera, rear end identifies provided with patch image；Backstage is used to set
The speed and route of pilot robot, to following robot to send queued instructions, the patch image to following Robot Scanning to go out
Identification image carries out image procossing and is a row according to image ranging Shi Ge robots equidistant arrangement, de- team robot planning is gone out
Rejoining one's unit route or makes the Tuo Dui robots make a return voyage.Patch image mark includes the number information of robot in the present invention, currently
Robot numbers according to itself, is identified by the patch image for scanning remaining robot, identifies the patch image of remaining robot
Number information in mark, so as to orient position of the current robot relative to other robot, that is, find current machine
The front and rear robot of people.
As shown in Fig. 2 when the control system of the robot queue using the present invention carries out the control of robot queue, lead to
Cross following steps realization：
(1) each robot receives queued instructions, wherein pilot robot according to setting speed and Route Work, with random
Device people follows successively；
(2) other robots around Robot Scanning are followed, find the patch image mark in other robots, and judge
Whether color lump position is searched out；
(3) after robot searches out color lump position, color lump judgement is carried out, according to setpoint distance positioning, movement；
(4) judge whether to form robot queue, be, then send positional information and playbacked, it is no, then continue color lump
Judge；
(5) after robot does not find color lump position, to backstage upload information, backstage releases queued instructions, sends position
Confidence breath is playbacked.
When there is the situation that de- team occurs in robot, de- team's information is uploaded to backstage, from the background according to currently de- team machine
The queuing message of people, cooking up rejoining one's unit for the Tuo Dui robots route or makes the Tuo Dui robots make a return voyage.
Specifically, in the step (3) of the present invention, current robot is positioned by positioning the mark of the patch image in image
The position of previous robot, and the conduct angle of the skew adjustment current robot according to color lump in whole image, simultaneously
Distance with previous robot is gone out according to image recognition, relatively regulated the speed according to the distance with setting.
As shown in figure 3, when carrying out color lump judgement in step (3), robot rotates head scanning surrounding environment first, finds
Color lump, find the outline drawing of matching；Then the robot in queue is determined whether according to outline drawing, if so, then continuing to identify
The number information of color lump, according to number information, positioned, it is no, then continually look for color lump.
In the present invention patch image mark using more palace lattice color lump code Design, it is possible to distinguish go out different robots or
The different robot queue of person.Patch image mark can also set different color lump series according to different environment, while can
By the default color lump series by different scenes in backstage, when setting color lump, unconventional pattern is arranged to as far as possible, with maximum
Degree reduces the influence that surrounding environment is followed the trail of robot.
In summary, robot is in the state being arbitrarily distributed before lining up, and after receiving queued instructions, robot is begun look for
Surrounding environment, color lump, while movement itself are caught, self-contained patch image is identified and is captured by other robot, machine
Device people numbers according to itself, scans the patch image mark of remaining robot, in the patch image mark for identifying remaining robot
Number information, so as to orient position of the current robot relative to other robot, that is, before finding current robot
Robot afterwards, it is finally reached the purpose that equidistant arrangement is a team.That is, for one group of robot arbitrarily put, by implementing from the background
Queued instructions, now robot searching color lump, the target of oneself is identified according to color lump, and self-position is moved by image ranging,
The purpose that equidistant arrangement is a team is progressively reached, it is of course also possible to the arrangement by other certain specific queues of Background control.
The process of lining up of the present invention is online control process, after robot queue is formed, can be worked offline, i.e., default
Good scene mode, robot leaves one's post to work according to the navigation way of formulation.
It can be seen that the present invention is set by image so that the behavior of each robot simulation people, passes through color lump " understanding " team
The companion of row, so as to automatically form queue.
Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and
Modification, these improvement and modification also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of control method of robot queue, it is characterised in that including step：
(1) each robot receives queued instructions, one of artificial pilot robot of machine, and remaining machine artificially follows machine
People, pilot robot according to setting speed and Route Work；
(2) other robots around Robot Scanning are followed, find the patch image mark in other robots, and judge whether
Search out color lump position；
(3) after robot searches out color lump position, color lump judgement is carried out, according to setpoint distance positioning, movement；
(4) judge whether to form robot queue, be, then send positional information and playbacked, it is no, then continue color lump and sentence
It is disconnected；
(5) after robot does not find color lump position, to backstage upload information, backstage releases queued instructions, sends position letter
Breath is playbacked.
2. the control method of robot queue according to claim 1, it is characterised in that：When the situation for thering is robot to take off team
During appearance, de- team's information is uploaded to backstage, from the background according to the queuing message of current Tuo Dui robots, cooks up the de- team machine
Rejoining one's unit for people or makes the Tuo Dui robots make a return voyage at route.
3. the control method of robot queue according to claim 1, it is characterised in that：In the step (3), current machine
Device people positions the position of previous robot by positioning the mark of the patch image in image, and according to color lump in whole image
In skew adjustment current robot conduct angle, while the distance with previous robot is gone out according to image recognition, according to
Relatively regulated the speed with the distance of setting.
4. the control method of robot queue according to claim 1, it is characterised in that：Color is carried out in the step (3)
When block judges, robot rotates head scanning surrounding environment first, finds color lump, finds the outline drawing of matching；Then according to outer
Shape figure determines whether the robot in queue, if so, then continuing to identify the number information of color lump, according to number information, carries out
Positioning, it is no, then continually look for color lump.
A kind of 5. control system of robot queue, it is characterised in that：Including the robot team formation that is made up of multiple robots and
From the background, in robot team formation, one of artificial pilot robot of machine, remaining machine artificially follows robot for control；Each institute
Robot head front end is stated to identify provided with patch image provided with camera, rear end；The backstage is used to set pilot robot
Speed and route, to following robot to send queued instructions, the patch image identification image for following Robot Scanning to go out carried out
Image procossing and be a row according to image ranging Shi Ge robots equidistant arrangement, de- team's robot planning, which is gone out to rejoin one's unit, route or to be made
The Tuo Dui robots make a return voyage.
6. the control system of robot queue according to claim 5, it is characterised in that：The patch image mark includes
There is the number information of robot.
7. the control system of robot queue according to claim 6, it is characterised in that：The patch image mark uses
The color lump code Design of more palace lattice.
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| CN107992035A (en) * | 2017-11-15 | 2018-05-04 | 西北工业大学 | A kind of Multi Mobile Robots Formation's control method based on indoor Global localization |
| CN108214446A (en) * | 2017-12-29 | 2018-06-29 | 塔普翊海（上海）智能科技有限公司 | A kind of mobile robot and mobile-robot system |
| CN108334070A (en) * | 2017-12-11 | 2018-07-27 | 浙江捷尚人工智能研究发展有限公司 | Robot travel control method, apparatus and system based on full-view camera |
| CN110244772A (en) * | 2019-06-18 | 2019-09-17 | 中国科学院上海微系统与信息技术研究所 | The navigator's system for tracking and navigator's follow-up control method of mobile robot |
| CN111650938A (en) * | 2020-06-08 | 2020-09-11 | 西交利物浦大学 | AGV control method and device |
| CN111857114A (en) * | 2019-04-17 | 2020-10-30 | 顺丰科技有限公司 | Robot formation moving method, system, equipment and storage medium |
| CN115218904A (en) * | 2022-06-13 | 2022-10-21 | 深圳市优必选科技股份有限公司 | Following navigation method, device, computer readable storage medium and mobile device |
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