CN111262951A - One-to-many scheduling system based on ad hoc network remote control search and rescue robot - Google Patents
One-to-many scheduling system based on ad hoc network remote control search and rescue robot Download PDFInfo
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- CN111262951A CN111262951A CN202010213916.0A CN202010213916A CN111262951A CN 111262951 A CN111262951 A CN 111262951A CN 202010213916 A CN202010213916 A CN 202010213916A CN 111262951 A CN111262951 A CN 111262951A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses a one-to-many dispatching system based on an ad hoc network remote control search and rescue robot, which comprises a dispatching center and a plurality of robots, wherein the dispatching center is provided with a main ad hoc network device, and transmits data and control information through the main ad hoc network device; the robot is provided with a secondary ad hoc network device, a network module, a conversion module and a waveform signal generator, wherein the secondary ad hoc network device, the network module, the conversion module and the waveform signal generator of the robot are sequentially connected, ad hoc network communication is realized between the main ad hoc network device and the secondary ad hoc network device, the network module holds different ip addresses and runs socket service inside, the network module converts a received control instruction into a waveform instruction and outputs the waveform instruction to the waveform signal generator, and the waveform instruction of the waveform signal generator controls a driving motor of the robot to realize remote control of the robot; the invention can control the robot on any platform supporting socket, realizes one-to-many control, enlarges the remote control range and has strong system adaptability.
Description
Technical Field
The invention relates to a one-to-many dispatching system for remote control of search and rescue robots based on an ad hoc network, which is used for realizing remote control of a plurality of robots.
Background
The operation, control and communication of multiple robots are currently well established technologies. Patent document No. CN105956748B discloses a task allocation method for a multi-search and rescue robot system, which describes a task allocation method for a multi-search and rescue robot system, and automatically allocates tasks to search and rescue robots through program design. Patent document with the publication number of CN206556696U discloses an intelligent search and rescue system based on wireless networking and positioning technology, which describes a system that realizes long-distance multi-hop communication and accurate positioning by adding nodes and relays, and a robot is equipped with an environment detection sensor system, a camera and other devices, and can measure a plurality of environment parameters and provide an environment image in real time. Patent document with publication number CN106314728B discloses an underwater search and rescue robot, a cooperative control system and a working method thereof, which describes an underwater search and rescue robot and a method for cooperative work of multiple underwater search and rescue robots under automatic scheduling of a server. However, a multi-robot such as the above has the following problems in work control:
1. multiple robots rely on program scheduling and cannot freely switch to manual control: the search and rescue environment is sometimes extremely complex, the inherent procedures cannot be well adapted, and the search and rescue environment is almost manually carried out in the actual search and rescue example.
2. The use of multiple robots necessarily requires multiple robot controllers: the existing remote control technology generally corresponds remote controllers and receivers one to one, and a plurality of remote controllers are necessarily used in occasions using a plurality of robots, which causes slow deployment speed and increased equipment cost.
3. The robot return information link is independent of the robot control link: the robot uses the self-organizing network link when returning information, and the robot control uses the remote controller wireless link. The ad hoc network supports relay, and the remote controller does not work, so that the robot cannot be remotely controlled in an area which can be covered by the ad hoc network, and the application range is reduced by phase change.
Disclosure of Invention
The invention aims to solve the technical problem of providing a system for realizing one-to-many search and rescue robot scheduling based on ad hoc network.
In order to solve the technical problem, the one-to-many dispatching system based on the ad hoc network remote control search and rescue robot is characterized by comprising a dispatching center and a plurality of robots, wherein the dispatching center is provided with a main ad hoc network device, and transmits data and control information through the main ad hoc network device; the robot has time from network deployment equipment, network module, conversion module, waveform signal generator, the time from network deployment equipment, network module, conversion module, the waveform signal generator of robot link to each other in proper order, realize from network deployment communication between main network deployment equipment, the time from network deployment equipment, different network modules hold different ip address and inside operation socket service, the network module converts the control command who receives into the waveform command to output for waveform signal generator, waveform signal generator's waveform command control robot's driving motor realizes the remote control to the robot.
Preferably, the conversion module and the waveform signal generator are realized by a stm32 single chip microcomputer, and the network module is a USR-TCP232 module.
The invention realizes one-to-many remote control, and does not need a remote controller and a receiver on a search and rescue robot carrying an ad hoc network. A waveform signal generator supported by the motor driver is installed and supports dynamic input of a waveform command from the outside. The network module is connected with the secondary ad hoc network device. The network module holds the ip address and runs the socket service internally. The conversion module is responsible for converting the control instruction received by the network module into a waveform instruction and outputting the waveform instruction to the waveform signal generator. The dispatching center uses socket to connect the ip of the robot network module, and the remote control of the robot can be realized by sending instructions. The network modules of different robots have different ip, and one-to-many remote control can be realized by sending instructions to the ip.
The equipment is integrated, and the robot can be controlled on any platform supporting socket; one-to-many control is realized, and different robots can be controlled only by changing the ip connected with the network module socket; the remote control range is enlarged and is equal to the range of the ad hoc network. The system has strong adaptability, and the dispatching system only needs to additionally use a network port of the ad hoc network equipment in the existing dispatching system, and does not influence any original function.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of the present invention.
Detailed Description
As shown in fig. 1, the one-to-many dispatching system based on the ad hoc network remote control search and rescue robot comprises a dispatching center and two (unlimited in number) search and rescue robots (robot a, robot B). The dispatching center uses PC, windows system. Search for and rescue robot motor drive: the duty ratio of 2-path PWM waveform is 8% -12%, 60 HZ.
The dispatching center is provided with a main ad hoc network device, and transmits data and control information through the main ad hoc network device.
The search and rescue robot is provided with a secondary ad hoc network device, a network module, a conversion module and a waveform signal generator, wherein the secondary ad hoc network device, the network module, the conversion module and the waveform signal generator of the robot are sequentially connected. And the main ad hoc network equipment and the secondary ad hoc network equipment realize ad hoc network communication.
The network module is a search and rescue robot network module, a manned USR-TCP232 module is used, different network modules hold different ip addresses and internally operate socket service.
And the stm32 singlechip is used for bearing the functions of a waveform signal generator and a conversion module of the search and rescue robot.
The network module converts the received control instruction into a waveform instruction and outputs the waveform instruction to the waveform signal generator, and the waveform instruction of the waveform signal generator controls a driving motor of the robot to realize the remote control of the robot.
Specifically, two pwm signal ports of the stm32 single chip microcomputer are connected to a motor driver of the search and rescue robot, and a stm32 serial port is connected to the USR-TCP232 module. The USR-TCP232 sets ip to 192.168.1.X, which is different from one robot to another, such as 192.168.1.100 in robot a and 192.168.1.101 in robot B. USR-TCP232 also runs the TCPs service it provides. The PC accesses the USR-TCP232 through the ad hoc network, and keyboard keys (such as can be mapped through a program) of the PC are instructions for controlling the action of the robot and are sent to the USR-TCP 232. The USR-TCP232 sends the action command to stm32 through a serial port through a self conversion function, and after the action command is identified by a program in stm32, a corresponding pwm waveform is sent to a motor driver, so that the robot acts.
The above embodiments do not limit the present invention in any way, and all technical solutions obtained by means of equivalent substitution or equivalent transformation fall within the protection scope of the present invention.
Claims (3)
1. The one-to-many dispatching system based on the ad hoc network remote control search and rescue robot is characterized by comprising a dispatching center and a plurality of robots, wherein the dispatching center is provided with a main ad hoc network device, and transmits data and control information through the main ad hoc network device; the robot has time from network deployment equipment, network module, conversion module, waveform signal generator, the time from network deployment equipment, network module, conversion module, the waveform signal generator of robot link to each other in proper order, realize from network deployment communication between main network deployment equipment, the time from network deployment equipment, different network modules hold different ip address and inside operation socket service, the network module converts the control command who receives into the waveform command to output for waveform signal generator, waveform signal generator's waveform command control robot's driving motor realizes the remote control to the robot.
2. The ad-hoc network remote control based search and rescue robot one-to-many scheduling system according to claim 1, wherein: the conversion module and the waveform signal generator are realized by an stm32 single chip microcomputer.
3. The ad-hoc network remote control based search and rescue robot one-to-many scheduling system according to claim 1, wherein: the network module is a USR-TCP232 module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022001120A1 (en) * | 2020-06-30 | 2022-01-06 | 江苏科技大学 | Multi-agent system and control method therefor |
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