CN112099507B - Cooperative motion method of multi-robot formation in scene with obstacles - Google Patents
Cooperative motion method of multi-robot formation in scene with obstacles Download PDFInfo
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- CN112099507B CN112099507B CN202010981891.9A CN202010981891A CN112099507B CN 112099507 B CN112099507 B CN 112099507B CN 202010981891 A CN202010981891 A CN 202010981891A CN 112099507 B CN112099507 B CN 112099507B
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The invention discloses a cooperative motion method of a multi-robot formation in a scene with obstacles, which comprises the following steps: the method comprises the following steps of robot queue numbering, queue main pilot determination, barrier identification, auxiliary pilot determination, barrier motion state judgment, motion mode transmission and cooperative motion result judgment; compared with the prior art, the cooperative movement method of the multi-robot formation in the scene with the obstacle provided by the invention has the advantages that the main pilot, the first auxiliary pilot and the second auxiliary pilot are extracted from the in-line robot formation, the state of the obstacle is analyzed by the main pilot and the auxiliary pilot, so that the movement modes of the main pilot and other robots in the formation are confirmed, the whole formation moves in the state with the obstacle, the robot is guided to move in a dynamics calculation mode, and meanwhile, the intelligent cooperative movement of manual real-time control indication is distinguished.
Description
Technical Field
The invention belongs to the technical field of multi-robot motion, and particularly relates to a cooperative motion method of a multi-robot formation in a scene with an obstacle.
Background
A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The physician has the ability to sit, rise, wore, lie, etc. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
With the development of science and technology, the application of mobile robots is becoming more common, and mobile robot systems that can operate in various environments, such as Unmanned aircrafts (Unmanned aerial vehicles), Unmanned vehicles (Unmanned Ground vehicles), Unmanned undersea vehicles (Unmanned undersea water vehicles), and the like, have been developed. Meanwhile, with the progress of industrialization, many fields such as automatic manufacturing, flexible production, search and rescue, environmental monitoring, safety and health face a large number of tasks with complex operations and large scale. Therefore, a single robot has not been able to perform these tasks well. Compared with a single robot system, the multi-robot system has a series of remarkable advantages due to the mutual cooperation of a plurality of robots, for example, the multi-robot system can reduce the complexity of task solution, promote the high efficiency of task completion, increase the reliability of the system, simplify the design of the system and the like. Due to these excellent characteristics, the multi-robot system is receiving more and more attention, and has attracted a great deal of study by scholars.
One field of robotics that benefits very well from using formal methods is path planning. In general, solving the path planning problem by a formalized approach requires a priori knowledge of the robot workspace. Sequential logic such as computational tree logic, sequential random logic, linear sequential logic have been effectively applied to express complex advanced planning specifications. Motion control of a traditional robot generally depends on a kinetic equation of the robot, however, as the number of robots in a system or a queue increases, a robot queue motion mode based on kinetic calculation is more and more difficult to calculate and judge a queue motion mode, and in addition, manual indication of motion states of robots with huge numbers in the queue is difficult to realize, so that a cooperative motion method of a plurality of robot formations in a scene with an obstacle needs to be provided.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a method for realizing the cooperative motion of a multi-robot formation in a scene with an obstacle.
In order to achieve the purpose, the invention provides the following technical scheme: a cooperative motion method of a multi-robot formation in a scene with obstacles comprises the following steps:
s1, numbering robot queues, numbering central control devices of all robots in the queues, arranging the robots into a linear queue through a shortest displacement algorithm, transmitting the numbers which are carried out in advance to all the robots in the queues by the central control devices, and forming a transverse or longitudinal queue according to the numbers before the queues are formed;
s2, determining a main navigator of the queue, wherein the central control devices of all robots in the robot queue scan and identify the obstacles by a scanning device in a time-interval mode, so that the relative position of the obstacles relative to the robot queue is determined, the robot individual with the end part closest to the obstacles at the robot queue is confirmed, and the robot is determined as the main navigator of the robot queue;
s3, recognizing the obstacle, and performing all-directional scanning on the obstacle through the scanning equipment of the main pilot identified in the step S2 so as to confirm the motion state of the main pilot and the motion states of other robots according to the state of the obstacle;
s4, determining that a main pilot is confirmed in step S2 in a linear queue, wherein the robot at the other end of the main pilot in the queue is determined as a first auxiliary pilot, and the robot at the middle position of the queue is taken as a second auxiliary pilot;
s5, judging the motion state of the obstacle, namely after confirming the first secondary pilot and the second secondary pilot through the step S4, continuously monitoring the state of the obstacle by using a central control device of the primary pilot, the first secondary pilot and the second secondary pilot through a scanning device, and determining the motion state of the robot queue through the obstacle;
s6, conveying a motion mode, namely obtaining the motion state of the barrier through continuous monitoring of a main pilot, a first auxiliary pilot and a second auxiliary pilot, obtaining the motion path of the main pilot in the queue, wherein the main pilot moves continuously for 2-3 seconds, then repeating the steps S3 and S5 to monitor the motion state of the barrier, and comparing the motion state with the last motion state of the barrier, so as to judge whether the main pilot continues the previous motion state or switches a new motion mode, and judge whether other robots in the queue except the main pilot maintain the original motion mode of the main pilot or follow the new motion mode of the main pilot;
and S7, judging the cooperative motion result, recording all motion modes and state changes of the obstacles in the motion process of all the robots in the queue through the central control device, and storing the motion modes and the state changes of the obstacles in the motion process into a storage module of the central control device.
Preferably, the central control device of the robots in the robot queue comprises a scanning assembly, a communication module, a storage module and a power supply module.
Preferably, in steps S1 and S3, the scanning device includes a high-definition binocular camera and an infrared temperature scanning device.
Preferably, in step S3, the scanning of the obstacle by the scanning device includes scanning a physical state of the obstacle, where the physical state of the obstacle includes a height of the obstacle, a width of the obstacle, and a temperature of the obstacle.
Preferably, in step S4, when the number of robots in the queue is singular, the second sub-pilot is a single robot; the second secondary pilot is two robots when the number of robots in the queue is double.
Preferably, in step S6, the main navigator continues the original motion state, and the other robots in the queue also keep the original motion state as the main navigator; the main navigator continues the original motion state, and other robots in the queue follow the new motion mode of the main navigator.
Preferably, the communication module is used for sending and receiving wireless signals, the communication module includes a WIFI antenna, an LTE antenna, a radio frequency switch, a frequency divider and a processor, the radio frequency switch includes a first input port, a second input port and a WIFI signal output port, the frequency divider includes a third input port, a first output port and a second output port, the WIFI antenna is connected with the first input port, the LTE antenna is connected with the third input port, the first output port is connected with the second input port, the frequency divider is used for separating WIFI signals and LTE signals in signals received by the LTE antenna, and the separated WIFI signals and LTE signals are output through the first output port and the second output port respectively.
Preferably, the signal transmitted by the communication module comprises an analog signal, a digital signal or a video stream; the analog signals are CVBS, S-VIDEO and VGA; the digital signals are ITU-R BT.656, ITU-R BT.601, ITU-R BT.1120, DVI and HDMI; the video stream is transmitted through Ethernet, WIFI, Bluetooth, RS-232, RS-485 and CAN.
The invention has the technical effects and advantages that: compared with the prior art, the cooperative movement method of the multi-robot formation in the scene with the obstacle provided by the invention has the advantages that the main pilot, the first auxiliary pilot and the second auxiliary pilot are extracted from the in-line robot formation, the state of the obstacle is analyzed by the main pilot and the auxiliary pilot, so that the movement modes of the main pilot and other robots in the formation are confirmed, the whole formation moves in the state with the obstacle, the robot is guided to move in a dynamics calculation mode, and meanwhile, the intelligent cooperative movement of manual real-time control indication is distinguished.
Drawings
Fig. 1 is a flow chart of a method for cooperative motion of a multi-robot formation in a scene with obstacles.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
A cooperative motion method of a multi-robot formation in a scene with obstacles comprises the following steps:
s1, numbering robot queues, numbering central control devices of all robots in the queues, arranging the robots into a linear queue through a shortest displacement algorithm, transmitting the numbers which are carried out in advance to all the robots in the queues by the central control devices, and forming a transverse or longitudinal queue according to the numbers before the queues are formed;
s2, determining a main navigator of the queue, wherein the central control devices of all robots in the robot queue scan and identify the obstacles by a scanning device in a time-interval mode, so that the relative position of the obstacles relative to the robot queue is determined, the robot individual with the end part closest to the obstacles at the robot queue is confirmed, and the robot is determined as the main navigator of the robot queue;
s3, recognizing the obstacle, and performing all-directional scanning on the obstacle through the scanning equipment of the main pilot identified in the step S2 so as to confirm the motion state of the main pilot and the motion states of other robots according to the state of the obstacle;
s4, determining that a main pilot is confirmed in step S2 in a linear queue, wherein the robot at the other end of the main pilot in the queue is determined as a first auxiliary pilot, and the robot at the middle position of the queue is taken as a second auxiliary pilot;
s5, judging the motion state of the obstacle, namely after confirming the first secondary pilot and the second secondary pilot through the step S4, continuously monitoring the state of the obstacle by using a central control device of the primary pilot, the first secondary pilot and the second secondary pilot through a scanning device, and determining the motion state of the robot queue through the obstacle;
s6, conveying a motion mode, namely obtaining the motion state of the barrier through continuous monitoring of a main pilot, a first auxiliary pilot and a second auxiliary pilot, obtaining the motion path of the main pilot in the queue, wherein the main pilot moves continuously for 2-3 seconds, then repeating the steps S3 and S5 to monitor the motion state of the barrier, and comparing the motion state with the last motion state of the barrier, so as to judge whether the main pilot continues the previous motion state or switches a new motion mode, and judge whether other robots in the queue except the main pilot maintain the original motion mode of the main pilot or follow the new motion mode of the main pilot;
and S7, judging the cooperative motion result, recording all motion modes and state changes of the obstacles in the motion process of all the robots in the queue through the central control device, and storing the motion modes and the state changes of the obstacles in the motion process into a storage module of the central control device.
The central control device of the robots in the robot queue comprises a scanning assembly, a communication module, a storage module and a power supply module. In steps S1 and S3, the scanning device includes a high-definition binocular camera and an infrared temperature scanning device.
In step S3, the process of scanning the obstacle by the scanning device includes scanning a physical state of the obstacle, where the physical state of the obstacle includes a height of the obstacle, a width of the obstacle, and a temperature of the obstacle. In step S4, when the number of robots in the queue is singular, the second secondary pilot is a single robot; the second secondary pilot is two robots when the number of robots in the queue is double.
In step S6, the main pilot continues the original motion state, and the other robots in the queue also keep the original motion state as the main pilot; the main navigator continues the original motion state, and other robots in the queue follow the new motion mode of the main navigator.
The communication module is used for sending wireless signals and receiving wireless signals, the communication module comprises a WIFI antenna, an LTE antenna, a radio frequency switch, a frequency divider and a processor, the radio frequency switch comprises a first input port, a second input port and a WIFI signal output port, the frequency divider comprises a third input port, the first output port and a second output port, the WIFI antenna is connected with the first input port, the LTE antenna is connected with the third input port, the first output port is connected with the second input port, the frequency divider is used for separating WIFI signals and LTE signals in signals received by the LTE antenna, and the separated WIFI signals and LTE signals are output through the first output port and the second output port respectively.
The signal transmitted by the communication module comprises an analog signal, a digital signal or a video stream; the analog signals are CVBS, S-VIDEO and VGA; the digital signals are ITU-R BT.656, ITU-R BT.601, ITU-R BT.1120, DVI and HDMI; the video stream is transmitted through Ethernet, WIFI, Bluetooth, RS-232, RS-485 and CAN.
In summary, compared with the prior art, the cooperative movement method of the multi-robot formation in the scene with the obstacle provided by the invention has the advantages that the main navigator, the first auxiliary navigator and the second auxiliary navigator are extracted from the in-line robot formation, the state of the obstacle is analyzed by the main navigator and the auxiliary navigator, so that the movement modes of the main navigator and other robots in the formation are confirmed, the whole formation moves in the state with the obstacle, the method is different from the method of guiding the robot to move in a dynamic calculation mode, and meanwhile, the method is different from the method of artificially performing intelligent cooperative movement for controlling and indicating in real time.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. A cooperative motion method of a multi-robot formation in a scene with obstacles is characterized in that: the method comprises the following steps:
s1, numbering robot queues, numbering central control devices of all robots in the queues, arranging the robots into a linear queue through a shortest displacement algorithm, transmitting the numbers which are carried out in advance to all the robots in the queues by the central control devices, and forming a transverse or longitudinal queue according to the numbers before the queues are formed;
s2, determining a main navigator of the queue, wherein the central control devices of all robots in the robot queue scan and identify the obstacles by a scanning device in a time-interval mode, so that the relative position of the obstacles relative to the robot queue is determined, the robot individual with the end part closest to the obstacles at the robot queue is confirmed, and the robot is determined as the main navigator of the robot queue;
s3, recognizing the obstacle, and performing all-directional scanning on the obstacle through the scanning equipment of the main pilot identified in the step S2 so as to confirm the motion state of the main pilot and the motion states of other robots according to the state of the obstacle;
s4, determining that a main pilot is confirmed in step S2 in a linear queue, wherein the robot at the other end of the main pilot in the queue is determined as a first auxiliary pilot, and the robot at the middle position of the queue is taken as a second auxiliary pilot;
s5, judging the motion state of the obstacle, namely after confirming the first secondary pilot and the second secondary pilot through the step S4, continuously monitoring the state of the obstacle by using a central control device of the primary pilot, the first secondary pilot and the second secondary pilot through a scanning device, and determining the motion state of the robot queue through the obstacle;
s6, conveying a motion mode, namely obtaining the motion state of the barrier through continuous monitoring of a main pilot, a first auxiliary pilot and a second auxiliary pilot, obtaining the motion path of the main pilot in the queue, wherein the main pilot moves continuously for 2-3 seconds, then repeating the steps S3 and S5 to monitor the motion state of the barrier, and comparing the motion state with the last motion state of the barrier, so as to judge whether the main pilot continues the previous motion state or switches a new motion mode, and judge whether other robots in the queue except the main pilot maintain the original motion mode of the main pilot or follow the new motion mode of the main pilot;
and S7, judging the cooperative motion result, recording all motion modes and state changes of the obstacles in the motion process of all the robots in the queue through the central control device, and storing the motion modes and the state changes of the obstacles in the motion process into a storage module of the central control device.
2. The method of claim 1, wherein the method comprises the following steps: the central control device of the robots in the robot queue comprises a scanning assembly, a communication module, a storage module and a power supply module.
3. The method of claim 1, wherein the method comprises the following steps: in steps S1 and S3, the scanning device includes a high-definition binocular camera and an infrared temperature scanning device.
4. The method of claim 1, wherein the method comprises the following steps: in step S3, the process of scanning the obstacle by the scanning device includes scanning a physical state of the obstacle, where the physical state of the obstacle includes a height of the obstacle, a width of the obstacle, and a temperature of the obstacle.
5. The method of claim 1, wherein the method comprises the following steps: in step S4, when the number of robots in the queue is singular, the second secondary pilot is a single robot; the second secondary pilot is two robots when the number of robots in the queue is double.
6. The method of claim 1, wherein the method comprises the following steps: in step S6, the main pilot continues to have the original motion state, and the other robots in the queue also keep the original motion state as the main pilot.
7. The method of claim 2, wherein the multi-robot formation is coordinated in the scene with obstacles, and the method comprises the following steps: the communication module is used for sending wireless signals and receiving wireless signals, the communication module comprises a WIFI antenna, an LTE antenna, a radio frequency switch, a frequency divider and a processor, the radio frequency switch comprises a first input port, a second input port and a WIFI signal output port, the frequency divider comprises a third input port, a first output port and a second output port, the WIFI antenna is connected with the first input port, the LTE antenna is connected with the third input port, the first output port is connected with the second input port, and the frequency divider is used for separating WIFI signals and LTE signals in signals received by the LTE antenna and outputting the separated WIFI signals and LTE signals through the first output port and the second output port respectively.
8. The method of claim 7, wherein the method comprises the following steps: the signal transmitted by the communication module comprises an analog signal, a digital signal or a video stream; the analog signals are CVBS, S-VIDEO and VGA; the digital signals are ITU-R BT.656, ITU-R BT.601, ITU-R BT.1120, DVI and HDMI; the video stream is transmitted through Ethernet, WIFI, Bluetooth, RS-232, RS-485 and CAN.
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| US8355818B2 (en) * | 2009-09-03 | 2013-01-15 | Battelle Energy Alliance, Llc | Robots, systems, and methods for hazard evaluation and visualization |
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