CN114839990A - Cluster robot experiment platform - Google Patents

Cluster robot experiment platform Download PDF

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CN114839990A
CN114839990A CN202210472124.4A CN202210472124A CN114839990A CN 114839990 A CN114839990 A CN 114839990A CN 202210472124 A CN202210472124 A CN 202210472124A CN 114839990 A CN114839990 A CN 114839990A
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蔡月日
陈治吉
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Beihang University
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
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    • G05D1/0223Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • GPHYSICS
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    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

本发明是一种集群机器人实验平台,属于机器人技术领域。本发明的实验平台包括集群机器人、实验场地、通信系统、定位系统和上位机。集群机器人为采用两轮差速驱动的桌面移动机器人,在实验场地中运动。通信系统在上位机和每个机器人上搭载无线通信模块,形成无线自组网。定位系统包括深度摄像头和定位程序,深度摄像头安装在实验场地中心的正上方,定位程序计算每个集群机器人的位置。上位机发送控制命令给单个机器人或整个集群机器人,并显示机器人运行状态。本发明集成了机器人、通信系统、定位系统和上位机,具备集中式和分布式集群完成编队控制、区域覆盖等实验的条件,方便集群控制算法的移植和验证,有利于对集群控制算法的改进和评估。

Figure 202210472124

The invention is a cluster robot experiment platform, which belongs to the field of robot technology. The experimental platform of the present invention includes a cluster robot, an experimental site, a communication system, a positioning system and a host computer. The swarm robot is a desktop mobile robot with two-wheel differential drive and moves in the experimental site. The communication system is equipped with a wireless communication module on the host computer and each robot to form a wireless ad hoc network. The positioning system includes a depth camera and a positioning program. The depth camera is installed just above the center of the experimental site, and the positioning program calculates the position of each swarm robot. The host computer sends control commands to a single robot or the entire group of robots, and displays the robot's running status. The invention integrates a robot, a communication system, a positioning system and a host computer, and has the conditions for centralized and distributed clusters to complete experiments such as formation control and area coverage, which facilitates the transplantation and verification of the cluster control algorithm and is beneficial to the improvement of the cluster control algorithm. and assessment.

Figure 202210472124

Description

一种集群机器人实验平台A swarm robot experiment platform

技术领域technical field

本发明属于机器人技术领域,具体涉及一种集群机器人实验平台。The invention belongs to the technical field of robots, and in particular relates to a cluster robot experiment platform.

背景技术Background technique

目前,集群机器人已经成为机器人热门研究领域之一,涌现出了许多集群自组织控制算法。考虑到实物实验的成本、耗时和复杂性,特别是针对大规模集群和水下集群,大多数研究人员通常只能通过理论证明和仿真模拟的方式验证其控制算法的有效性。但是,理论计算和仿真难以精确地模拟真实的机器人与机器人、机器人与环境之间的交互以及环境噪声和干扰、传感器误差、通信延迟等因素对控制方法性能的影响。因此,为了实现集群控制算法的实验验证,有必要提出一种集群机器人实验平台。At present, swarm robots have become one of the hot research fields of robotics, and many swarm self-organizing control algorithms have emerged. Considering the cost, time-consuming and complexity of physical experiments, especially for large-scale swarms and underwater swarms, most researchers can only verify the effectiveness of their control algorithms through theoretical proofs and simulations. However, theoretical calculations and simulations are difficult to accurately simulate the interaction between real robots and robots, between robots and the environment, and the effects of environmental noise and interference, sensor errors, communication delays, and other factors on the performance of the control method. Therefore, in order to realize the experimental verification of the swarm control algorithm, it is necessary to propose a swarm robot experiment platform.

发明内容SUMMARY OF THE INVENTION

为了弥补现有技术的不足,本发明提供了一种集群机器人实验平台,该平台具备集群定位、通信、控制以及状态信息显示等功能,支持集中式和分布式集群机器人的实验,有助于验证集群控制算法的有效性。In order to make up for the deficiencies of the prior art, the present invention provides a swarm robot experiment platform, which has functions such as swarm positioning, communication, control and status information display, supports experiments of centralized and distributed swarm robots, and is helpful for verification The effectiveness of the cluster control algorithm.

本发明提供的一种集群机器人实验平台,包括集群机器人、实验场地、通信系统、定位系统和上位机。集群机器人为采用两轮差速驱动的桌面移动机器人,在实验场地中运动。机器人自身携带距离传感器。通信系统为:在上位机和每个集群机器人上均搭载无线通信模块,形成无线自组网。定位系统包括深度摄像头和定位程序,深度摄像头安装于实验场地中心的正上方,并与上位机连接,定位程序计算得到每个集群机器人的位姿信息,并传递给上位机。上位机发布单个机器人或整个集群机器人的控制命令,并显示机器人运行状态。The invention provides a swarm robot experiment platform, which includes a swarm robot, an experiment site, a communication system, a positioning system and a host computer. The swarm robot is a desktop mobile robot with two-wheel differential drive, which moves in the experimental site. The robot itself carries a distance sensor. The communication system is as follows: the host computer and each cluster robot are equipped with wireless communication modules to form a wireless ad hoc network. The positioning system includes a depth camera and a positioning program. The depth camera is installed just above the center of the experimental site and is connected to the upper computer. The positioning program calculates the pose information of each swarm robot and transmits it to the upper computer. The host computer issues the control commands of a single robot or the entire group of robots, and displays the robot running status.

所述的定位系统中,定位程序利用深度摄像头拍摄的图像对机器人进行外部辅助定位。In the positioning system, the positioning program uses the images captured by the depth camera to perform external auxiliary positioning of the robot.

所述的定位系统中,定位程序设置有两种机器人自定位方式,一种是通过机器人自身搭载的陀螺仪和编码器输出的角度及速度,进行累加计算得到机器人当前时刻的位置;一种是当机器人方向与全局坐标系的X轴或Y轴平行时,通过机器人自身携带的距离传感器测量与实验场地围墙的距离来获得当前位置。In the positioning system, the positioning program is provided with two robot self-positioning methods, one is to use the angle and speed output by the gyroscope and encoder carried by the robot itself, and the current position of the robot is obtained by accumulative calculation; When the direction of the robot is parallel to the X axis or the Y axis of the global coordinate system, the current position is obtained by measuring the distance to the surrounding wall of the experimental site through the distance sensor carried by the robot itself.

所述的上位机由个体控制模块和集群控制模块组成。所述的个体控制模块中上位机与集群中的任一机器人建立通信,发送目标位姿、跟踪路径及目标速度给机器人。其中,跟踪路径使用二元二次方程的六个系数表示。所述的集群控制模块中上位机与集群内所有机器人建立通信,发送集群控制命令、机器人运动状态及环境信息给各机器人。集群控制命令包括目标位置设置、目标队形设置和目标区域设置。目标区域为多边形区域和圆形区域,其中多边形区域用多边形的所有顶点坐标的集合表示,圆形区域用圆心坐标和半径表示。The upper computer is composed of an individual control module and a cluster control module. In the individual control module, the host computer establishes communication with any robot in the cluster, and sends the target pose, tracking path and target speed to the robot. Among them, the tracking path is represented by the six coefficients of the quadratic equation in two variables. In the cluster control module, the host computer establishes communication with all robots in the cluster, and sends cluster control commands, robot motion status and environmental information to each robot. Cluster control commands include target position setting, target formation setting and target area setting. The target area is a polygonal area and a circular area, wherein the polygonal area is represented by the set of all vertex coordinates of the polygon, and the circular area is represented by the center coordinates and radius.

所述的上位机,发送的命令格式为:机器人地址+功能码+数据。The command format sent by the host computer is: robot address + function code + data.

本发明的优点与积极效果在于:The advantages and positive effects of the present invention are:

(1)本发明的集群机器人实验平台,集成了机器人、通信系统、定位系统和上位机,具备集中式和分布式集群完成编队控制、区域覆盖等实验的条件,方便集群控制算法的移植和验证。(1) The swarm robot experiment platform of the present invention integrates a robot, a communication system, a positioning system and a host computer, and has the conditions for centralized and distributed swarms to complete experiments such as formation control and area coverage, which facilitates the transplantation and verification of swarm control algorithms .

(2)本发明的集群机器人实验平台将外部辅助定位与机器人自定位相结合,上位机可以保存集群的运动路径,对其运行状态进行监测,有利于对集群控制算法的改进和评估。(2) The swarm robot experiment platform of the present invention combines external auxiliary positioning with robot self-positioning, and the host computer can save the movement path of the swarm and monitor its running state, which is beneficial to the improvement and evaluation of the swarm control algorithm.

(3)本发明的集群机器人实验平台中,采用二元二次方程的系数来描述机器人跟踪路径、采用多边形顶点坐标集合来描述目标多边形区域、采用圆心坐标和半径来描述目标圆形区域,能够有效减少控制命令的数据量,降低通信负载。(3) In the swarm robot experiment platform of the present invention, the coefficients of the quadratic equation are used to describe the robot tracking path, the polygon vertex coordinate set is used to describe the target polygon area, and the center coordinates and the radius are used to describe the target circular area. Effectively reduce the data volume of the control command and reduce the communication load.

附图说明Description of drawings

图1是本发明实施例的集群机器人实验平台的示意图;Fig. 1 is a schematic diagram of a swarm robot experimental platform according to an embodiment of the present invention;

图2是本发明实施例的机器人运动示意图;2 is a schematic diagram of the motion of a robot according to an embodiment of the present invention;

图3是本发明实施例的机器人利用距离传感器自定位的示意图;3 is a schematic diagram of a robot self-positioning using a distance sensor according to an embodiment of the present invention;

图4是本发明实施例的上位机实现的功能模块示意图;4 is a schematic diagram of functional modules implemented by a host computer according to an embodiment of the present invention;

图5是本发明实施例的集群机器人的队形示意图;5 is a schematic diagram of a formation of a swarm robot according to an embodiment of the present invention;

图6是本发明实施例的集群机器人实验平台的工作流程图。FIG. 6 is a working flow chart of the swarm robot experiment platform according to the embodiment of the present invention.

具体实施方式Detailed ways

下面将结合附图和实施例对本发明作进一步的详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

如图1所示,本发明实施例的集群机器人实验平台,包括:上位机1、实验场地2、集群机器人3、通信系统4以及定位系统5。其中,集群机器人3为采用两轮差速驱动的桌面移动机器人,在实验场地2中运动;通信系统4由多个无线自组网通信模块组成,上位机1和每个集群机器人3上均搭载了无线通信模块,能够实现相互的远程数据传输;定位系统5包括深度摄像头和定位程序,深度摄像头安装于实验场地2中心的正上方,并与上位机1连接,定位程序根据其获得的画面计算得到每个集群机器人3的位姿信息,并传递给上位机1;上位机1能够发布某一个机器人或整个集群的控制命令,并显示其运行状态信息。As shown in FIG. 1 , the swarm robot experiment platform according to the embodiment of the present invention includes: a host computer 1 , an experiment site 2 , a swarm robot 3 , a communication system 4 and a positioning system 5 . Among them, the swarm robot 3 is a desktop mobile robot with two-wheel differential drive, and moves in the experimental site 2; the communication system 4 is composed of multiple wireless ad hoc network communication modules, and the host computer 1 and each swarm robot 3 are equipped with A wireless communication module is installed, which can realize mutual long-distance data transmission; the positioning system 5 includes a depth camera and a positioning program. The depth camera is installed directly above the center of the experimental site 2 and is connected to the host computer 1. The positioning program calculates according to the obtained picture. The pose information of each swarm robot 3 is obtained and transmitted to the host computer 1; the host computer 1 can issue a control command of a robot or the entire swarm, and display its running status information.

集群机器人3采用模块化设计程序,包括决策控制模块、驱动模块、通信模块和传感模块,易于集群控制算法的移植。其中决策控制模块,能够调用其他模块控制机器人的运动。在进行集群实验之前,须将集群控制算法写入决策控制模块,并烧录到机器人的主控制器中。驱动模块用于驱动机器人动作。通信模块为无线通信模块,与其他无线通信模块自组网通信。每个机器人自身搭载陀螺仪、编码器和距离传感器。传感模块通过陀螺仪获取机器人的转角;通过左轮电机和右轮电机的编码器获取脉冲数,以用来进一步计算机器人的速度;通过距离传感器可测量与周围事物的距离。The swarm robot 3 adopts a modular design program, including a decision control module, a drive module, a communication module and a sensor module, which is easy to transplant the swarm control algorithm. The decision control module can call other modules to control the movement of the robot. Before the cluster experiment, the cluster control algorithm must be written into the decision control module and programmed into the main controller of the robot. The drive module is used to drive the robot action. The communication module is a wireless communication module, and communicates with other wireless communication modules in an ad hoc network. Each robot has its own gyroscope, encoder and distance sensor. The sensing module obtains the rotation angle of the robot through the gyroscope; obtains the pulse number through the encoders of the left wheel motor and the right wheel motor to further calculate the speed of the robot; through the distance sensor, the distance to the surrounding things can be measured.

实验场地2的底面为喷绘布,四周为KT板制作的围栏,可以通过加长或者缩短围栏来自由改变场地的大小。The bottom surface of the experimental site 2 is spray-painted cloth, surrounded by a fence made of KT board. The size of the site can be freely changed by lengthening or shortening the fence.

通信系统4由多个基于ZigBee协议的无线通信模块组成,传输距离远,可长期稳定工作。每个无线通信模块的地址是唯一的,上电后会与周围的无线通信模块自动组成多跳网状网络,可以给网络中的任意一个节点发送数据。连接了无线通信模块的上位机1和机器人3,都是网络中的一个节点。基于通信网络,通信系统能够实现一对一、一对多、多对多等三种通信模式。一对一模式,是指一个节点(上位机或机器人)发送(或接收)的数据只能被另一个特定节点接收(或发送);一对多模式,是指一个节点发送(或接收)的数据可以被多个节点接收(或发送);多对多模式,是指所有节点均能向其他节点发送数据,也能接收到其他节点发送的数据。The communication system 4 is composed of a plurality of wireless communication modules based on the ZigBee protocol, which has a long transmission distance and can work stably for a long time. The address of each wireless communication module is unique. After power-on, it will automatically form a multi-hop mesh network with surrounding wireless communication modules, which can send data to any node in the network. The host computer 1 and the robot 3 connected to the wireless communication module are both nodes in the network. Based on the communication network, the communication system can realize three communication modes such as one-to-one, one-to-many, and many-to-many. One-to-one mode means that the data sent (or received) by one node (host computer or robot) can only be received (or sent) by another specific node; one-to-many mode means that data sent (or received) by one node Data can be received (or sent) by multiple nodes; the many-to-many mode means that all nodes can send data to other nodes and can also receive data sent by other nodes.

定位系统5包括机器人自定位和外部辅助定位,其中机器人有两种自定位方式。The positioning system 5 includes robot self-positioning and external auxiliary positioning, wherein the robot has two self-positioning modes.

第一种自定位方式是通过机器人自身搭载的陀螺仪和编码器输出的角度及速度数据,进行累加计算得到机器人当前时刻的位置,具体如图2所示:将实验场地2左下角的点设为原点,建立全局坐标系,机器人的位姿可以用(x,y,θ)来表示,分别为机器人中心位置的x坐标、y坐标,以及机器人转角θ;其运动状态可以用(v,ω)来表示,分别为前进速度v和角速度ω。传感模块能够输出Δt时间内左轮编码器产生的脉冲数nl、右轮编码器产生的脉冲数nr和机器人转角θ。轮子转动一圈,左右电机的编码器产生的脉冲数为N,驱动轮直径为d,轮间距为L。设(xi,yii)、(vii)为i时刻机器人的位姿,则有:The first self-positioning method is to use the angle and speed data output by the gyroscope and encoder carried by the robot itself to accumulate and calculate the current position of the robot, as shown in Figure 2: Set the point at the lower left corner of the experimental site 2 to As the origin, a global coordinate system is established. The pose of the robot can be represented by (x, y, θ), which are the x coordinate, y coordinate of the robot center position, and the robot rotation angle θ; its motion state can be expressed by (v, ω ) to represent, respectively, the forward speed v and the angular speed ω. The sensor module can output the pulse number n l generated by the left wheel encoder, the pulse number n r generated by the right wheel encoder and the robot rotation angle θ within the time Δt. When the wheel rotates once, the number of pulses generated by the encoder of the left and right motors is N, the diameter of the driving wheel is d, and the distance between the wheels is L. Let (x i , y i , θ i ), (vi , ω i ) be the pose of the robot at time i , then there are:

Figure BDA0003623133410000031
Figure BDA0003623133410000031

vi=(vl+vr)/2,ωi=(vr-vl)/Lv i =(v l +v r )/2,ω i =(v r -v l )/L

θi=θ,xi=xi-1+vi·Δt·cos(θi),yi=yi-1+vi·Δt·sin(θi)θ i =θ,x i =x i-1 +v i ·Δt·cos(θ i ),y i =y i-1 +v i ·Δt·sin(θ i )

其中,vl、vr分别表示机器人左右两轮的速度,单位为mm/s。xi-1、yi-1为i-1时刻机器人的坐标位置。Among them, v l and v r represent the speed of the left and right wheels of the robot respectively, and the unit is mm/s. x i-1 and y i-1 are the coordinate positions of the robot at time i-1.

第二种自定位方式是当机器人方向与全局坐标系的X轴或Y轴平行时,即其角度为0(360°)、90°、180°或270°时,通过自身携带的距离传感器测量与实验场地围墙的距离来获得当前的位置,如图3所示。正对实验场地左侧围墙和下侧围墙的两个距离传感器测得距离值为l1、l2,则可得到当前机器人的位置,即xi=l1、yi=l2The second self-positioning method is when the robot's orientation is parallel to the X-axis or Y-axis of the global coordinate system, that is, when its angle is 0 (360°), 90°, 180° or 270°, it is measured by the distance sensor carried by itself. The distance from the experimental site wall to obtain the current position, as shown in Figure 3. The distances measured by the two distance sensors facing the left and lower walls of the experimental site are l 1 and l 2 , and the current position of the robot can be obtained, that is, x i =l 1 , y i =l 2 .

由上述两种自定位方法计算的位姿的准确度很大程度上依赖于机器人传感器的精度,编码器和距离传感器的噪声、陀螺仪的漂移都是不可避免的,随着机器人时间的增加会逐渐产生不可忽视的累积误差,且无法获得机器人的初始位姿。所以,本发明定位系统还提供了一种外部辅助定位方式,以获得高精度、无累积误差的机器人位姿。该定位方式,利用安装于实验场地中心上方的深度摄像头,利用霍夫变换函数识别圆形机器人(即机器人坐标系)在摄像头坐标系下的位姿,从而可以计算得到机器人在全局坐标系下的位姿,表示如下:The accuracy of the pose calculated by the above two self-localization methods largely depends on the accuracy of the robot sensor. The noise of the encoder and the distance sensor, and the drift of the gyroscope are inevitable. A non-negligible cumulative error is gradually generated, and the initial pose of the robot cannot be obtained. Therefore, the positioning system of the present invention also provides an external auxiliary positioning method to obtain the robot pose with high precision and no accumulated error. In this positioning method, the depth camera installed above the center of the experimental site is used, and the Hough transform function is used to identify the pose of the circular robot (that is, the robot coordinate system) in the camera coordinate system, so that the robot can be calculated in the global coordinate system. pose, expressed as follows:

Pij iTPj P i = j i TP j

其中,Pj为机器人在深度摄像头坐标系下的位姿,j iT为深度摄像头坐标系相对于全局坐标系的位姿,Pi为机器人在全局坐标下的位姿。Among them, P j is the pose of the robot in the depth camera coordinate system, j i T is the pose of the depth camera coordinate system relative to the global coordinate system, and P i is the pose of the robot in the global coordinate system.

上位机1由个体控制模块和集群控制模块两部分组成,具备个体或集群控制命令发布功能和状态信息显示功能,如图4所示。个体控制模块中,上位机可以与集群中的任一机器人建立通信,发送其目标位姿、跟踪路径及目标速度。其中目标位姿用(xd,ydd)表示;目标速度用(vdd)表示;跟踪路径使用二元二次方程的六个系数(a,b,c,d,e,f)表示,路径表达式如下式所示:The host computer 1 is composed of two parts, the individual control module and the cluster control module, and has the function of issuing individual or cluster control commands and displaying the status information, as shown in Figure 4. In the individual control module, the host computer can establish communication with any robot in the cluster and send its target pose, tracking path and target speed. The target pose is represented by (x d , y d , θ d ); the target speed is represented by (v d , ω d ); the tracking path uses the six coefficients of the quadratic equation (a, b, c, d, e, f) means that the path expression is as follows:

ax2+by2+cxy+dx+ey+f=0ax 2 +by 2 +cxy+dx+ey+f=0

其中,x,y为位置坐标。Among them, x and y are the position coordinates.

例如,直线路径y=x可以用(0,0,0,-1,1,0)表示,以(5,5)为圆心、10为半径的圆路径可以用(1,1,0,-10,-10,-50)表示。For example, a straight line path y=x can be represented by (0,0,0,-1,1,0), and a circular path with (5,5) as the center and 10 as the radius can be represented by (1,1,0,- 10,-10,-50).

上位机1发送的命令格式为:机器人地址+功能码+数据。机器人收到传输的数据后,按照其集群控制程序执行相应的操作。除此之外,上位机1通过绘图的方式显示设定的目标点和路径,并实时更新机器人的位姿。The command format sent by the host computer 1 is: robot address + function code + data. After the robot receives the transmitted data, it performs corresponding operations according to its cluster control program. In addition, the host computer 1 displays the set target point and path by drawing, and updates the pose of the robot in real time.

集群控制模块中,上位机需要和集群内所有机器人建立通信,传输控制命令、机器人运动状态及环境信息等。首先需要选择集群通信模式,即集中式通信和分布式通信。集中式通信,即每个机器人都能从上位机中获得全局的环境信息,包括集群内所有其它机器人的位姿、速度信息以及自己的外部辅助定位信息;分布式通信,即每个机器人只能从上位机中获得其设定范围内的局部环境信息,包括在此范围内的其他机器人的位姿、速度信息,只能依靠自定位,无法获取自己的外部辅助定位信息。集群控制命令包括目标位置设置、目标队形设置和目标区域设置。其中目标位置用(xsd,ysd)表示;目标队形包括三角形编队和菱形编队两种,用(type,D,α)表示,其中type=0为三角形编队,type=1为菱形编队,D为编队中个体之间的距离,α为编队中个体之间的角度,如图5所示;目标区域可以分为多边形区域和圆形区域,其中多边形区域用多边形的所有顶点坐标的集合表示,即{(x1,y1),(x2,y2),(x3,y3),…},圆形区域用圆心坐标和半径表示,即(xo,yo,r)。状态显示模块能够显示集群中所有个体的位姿以及目标队形、目标覆盖区域,有利于检测集群的状态和评价实验结果。In the cluster control module, the host computer needs to establish communication with all robots in the cluster, and transmit control commands, robot motion status and environmental information. First, you need to select the cluster communication mode, that is, centralized communication and distributed communication. Centralized communication, that is, each robot can obtain global environmental information from the host computer, including the pose, speed information of all other robots in the cluster, and its own external auxiliary positioning information; distributed communication, that is, each robot can only Obtaining local environment information within its set range from the host computer, including the pose and speed information of other robots within this range, can only rely on self-positioning, and cannot obtain its own external auxiliary positioning information. Cluster control commands include target position setting, target formation setting and target area setting. The target position is represented by (x sd , y sd ); the target formation includes two types of triangular formations and diamond formations, which are represented by (type, D, α), where type=0 is a triangle formation, type=1 is a diamond formation, D is the distance between the individuals in the formation, α is the angle between the individuals in the formation, as shown in Figure 5; the target area can be divided into a polygonal area and a circular area, where the polygonal area is represented by the set of all vertex coordinates of the polygon , namely {(x 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),…}, the circular area is represented by the center coordinates and radius, namely (x o ,y o ,r) . The status display module can display the poses of all individuals in the cluster, the target formation, and the target coverage area, which is conducive to detecting the status of the cluster and evaluating the experimental results.

现有技术中一般采用位于路径和目标区域轮廓上、等间距的点序列来描述路径和目标区域,这种描述方法的精确度与点的间隔大小相关,随着路径长度增加或者目标区域面积增大,点序列的长度也会增加,进而导致控制命令的数据量增大。而本发明采用多边形顶点坐标集合来描述目标多边形区域、采用圆心坐标和半径来描述目标圆形区域,控制命令数据量与路径长度或目标区域大小没有直接关系,只与其形状有关,能够在保持精确度的同时降低数据量。In the prior art, a sequence of points located on the outline of the path and the target area with equal intervals is generally used to describe the path and the target area. The accuracy of this description method is related to the interval of the points. If it is large, the length of the point sequence will also increase, which will lead to an increase in the data amount of the control command. In the present invention, the target polygon area is described by the set of polygon vertex coordinates, and the target circular area is described by using the coordinates of the center of the circle and the radius. while reducing the amount of data.

本发明一种集群机器人实验平台的工作流程,如图6所示。首先,为所有集群机器人烧录集群控制程序,完成后将机器人放入实验场地中上电;打开上位机界面,启动无线通信模块,与所有机器人建立自组网通讯网络;使用定位系统的外部定位模块,将定位结果通过上位机发送给每个机器人,完成机器人位姿的初始化;上位机发送个体/集群控制命令;机器人接收命令到后按控制程序执行任务;执行任务过程中通过自定位模块更新自身的位姿,并发布给上位机;上位机对个体/集群的位姿进行显示;完成任务后,机器人等待下一个命令。The workflow of a swarm robot experiment platform of the present invention is shown in FIG. 6 . First, burn the cluster control program for all the robots in the cluster, put the robots into the experimental site and power on after completion; open the interface of the host computer, start the wireless communication module, and establish an ad hoc network communication network with all robots; use the external positioning system of the positioning system The module sends the positioning result to each robot through the host computer to complete the initialization of the robot pose; the host computer sends individual/cluster control commands; the robot executes the task according to the control program after receiving the command; it is updated through the self-positioning module during the execution of the task. The pose of itself is released to the host computer; the host computer displays the pose of the individual/cluster; after completing the task, the robot waits for the next command.

除说明书所述的技术特征外,均为本专业技术人员的已知技术。本发明省略了对公知组件和公知技术的描述,以避免赘述和不必要地限制本发明。上述实施例中所描述的实施方式也并不代表与本申请相一致的所有实施方式,在本发明技术方案的基础上,本领域技术人员不需要付出创造性的劳动即可做出的各种修改或变形仍在本发明的保护范围内。Except for the technical features described in the specification, they are all known technologies by those skilled in the art. The present invention omits descriptions of well-known components and well-known technologies to avoid redundant description and unnecessarily limit the present invention. The implementations described in the above embodiments do not represent all implementations consistent with the present application. On the basis of the technical solutions of the present invention, those skilled in the art can make various modifications without creative work. Or deformations are still within the protection scope of the present invention.

Claims (8)

1.一种集群机器人实验平台,其特征在于,包括:集群机器人、实验场地、通信系统、定位系统和上位机;1. a swarm robot experiment platform, is characterized in that, comprises: swarm robot, experiment site, communication system, positioning system and host computer; 所述集群机器人为采用两轮差速驱动的桌面移动机器人,在所述实验场地中运动;机器人自身携带距离传感器;所述通信系统在上位机和每个集群机器人上均搭载无线通信模块,形成无线自组网;所述定位系统包括深度摄像头和定位程序,深度摄像头安装于实验场地中心的正上方,并与上位机连接,定位程序计算得到每个集群机器人的位姿信息,并传递给上位机;所述上位机发布单个机器人或整个集群机器人的控制命令,并显示机器人运行状态。The swarm robot is a desktop mobile robot that adopts two-wheel differential drive and moves in the experimental site; the robot itself carries a distance sensor; the communication system is equipped with a wireless communication module on the host computer and each swarm robot, forming a Wireless ad hoc network; the positioning system includes a depth camera and a positioning program. The depth camera is installed just above the center of the experimental site and is connected to the host computer. The positioning program calculates the pose information of each cluster robot and transmits it to the host computer. The upper computer issues the control commands of a single robot or the whole group of robots, and displays the operation status of the robot. 2.根据权利要求1所述的集群机器人实验平台,其特征在于,所述的集群机器人中功能采用模块化设计,包括决策控制模块、驱动模块、通信模块和传感模块;在进行集群实验前,集群控制算法写入所述决策控制模块中;所述驱动模块驱动机器人动作;所述通信模块用于无线通信;所述传感模块从机器人自身携带的陀螺仪、编码器和距离传感器获取输出数据发送给定位系统。2. The swarm robot experiment platform according to claim 1, wherein the functions in the swarm robot adopt a modular design, including a decision control module, a drive module, a communication module and a sensing module; before the cluster experiment is carried out , the cluster control algorithm is written into the decision-making control module; the driving module drives the action of the robot; the communication module is used for wireless communication; the sensing module obtains output from the gyroscope, encoder and distance sensor carried by the robot itself The data is sent to the positioning system. 3.根据权利要求1所述的集群机器人实验平台,其特征在于,所述的定位系统,其上的定位程序对机器人进行外部辅助定位,采用如下方式:3. swarm robot experimental platform according to claim 1, is characterized in that, described positioning system, the positioning program on it carries out external auxiliary positioning to robot, adopts following mode: 获取深度摄像头所拍摄的图像,利用霍夫变换函数识别机器人在摄像头坐标系下的位置,计算得到机器人在全局坐标系下的位姿,如下:Obtain the image captured by the depth camera, use the Hough transform function to identify the position of the robot in the camera coordinate system, and calculate the pose of the robot in the global coordinate system, as follows:
Figure FDA0003623133400000011
Figure FDA0003623133400000011
其中,Pj为机器人在深度摄像头坐标系下的位姿,
Figure FDA0003623133400000012
为深度摄像头坐标系相对于全局坐标系的位姿,Pi为机器人在全局坐标下的位姿;全局坐标系以实验场地左下角的点为原点建立。
Among them, P j is the pose of the robot in the depth camera coordinate system,
Figure FDA0003623133400000012
is the pose of the depth camera coordinate system relative to the global coordinate system, and P i is the pose of the robot in the global coordinate system; the global coordinate system is established with the point at the lower left corner of the experimental site as the origin.
4.根据权利要求1或2或3所述的集群机器人实验平台,其特征在于,所述的定位系统,其上的定位程序进行机器人自定位,采用如下方式:4. according to claim 1 or 2 or 3 described swarm robot experimental platforms, it is characterized in that, described positioning system, the positioning program on it carries out robot self-positioning, adopts following way: 将实验场地左下角的点设为原点,建立全局坐标系;通过机器人自身搭载的陀螺仪和编码器输出的角度及速度,进行累加计算得到机器人当前时刻的位置,具体包括:The point at the lower left corner of the experimental site is set as the origin, and a global coordinate system is established; the current position of the robot is obtained by accumulative calculation through the angle and speed output by the gyroscope and encoder mounted on the robot itself, including: 机器人轮子转动一圈,左右驱动轮电机的编码器产生的脉冲数为N,驱动轮直径为d,轮间距为L;设i-1时刻机器人的坐标位置为xi-1,yi-1;获取机器人在时间Δt内左轮编码器产生的脉冲数nl、右轮编码器产生的脉冲数nr和机器人转角θ;则获取i时刻机器人的位姿如下:The number of pulses generated by the encoder of the left and right driving wheel motors is N, the diameter of the driving wheel is d, and the distance between the wheels is L; let the coordinate position of the robot at the moment i-1 be x i-1 , y i-1 ; Obtain the number of pulses n l generated by the left wheel encoder, the number of pulses n r generated by the right wheel encoder and the robot rotation angle θ within the time Δt of the robot; then the pose of the robot at time i is obtained as follows:
Figure FDA0003623133400000013
Figure FDA0003623133400000013
vi=(vl+vr)/2,ωi=(vr-vl)/Lv i =(v l +v r )/2,ω i =(v r -v l )/L θi=θ,xi=xi-1+vi·Δt·cos(θi),yi=yi-1+vi·Δt·sin(θi)θ i =θ,x i =x i-1 +v i ·Δt·cos(θ i ),y i =y i-1 +v i ·Δt·sin(θ i ) 其中,vl、vr分别表示机器人左右两驱动轮的速度;vi为i时刻机器人的前进速度;ωi为i时刻机器人的角速度;xi,yi为i时刻机器人的坐标位置,θi为i时刻机器人转角。Among them, v l and v r represent the speed of the left and right driving wheels of the robot respectively; v i is the forward speed of the robot at time i; ω i is the angular velocity of the robot at time i; x i , y i are the coordinate positions of the robot at time i, θ i is the rotation angle of the robot at time i.
5.根据权利要求1所述的集群机器人实验平台,其特征在于,所述的定位系统,其上的定位程序进行机器人自定位,采用如下方式:5. swarm robot experimental platform according to claim 1, is characterized in that, described positioning system, the positioning program on it carries out robot self-positioning, adopts following way: 将实验场地左下角的点设为原点,建立全局坐标系;Set the point at the lower left corner of the experimental site as the origin to establish a global coordinate system; 当机器人方向与全局坐标系的X轴或Y轴平行时,通过机器人自身携带的距离传感器测量与实验场地围墙的距离来获得当前的位置。When the direction of the robot is parallel to the X-axis or Y-axis of the global coordinate system, the current position is obtained by measuring the distance from the surrounding wall of the experimental site through the distance sensor carried by the robot itself. 6.根据权利要求1或3所述的集群机器人实验平台,其特征在于,所述的上位机由个体控制模块和集群控制模块组成;6. The swarm robot experiment platform according to claim 1 or 3, wherein the host computer is composed of an individual control module and a swarm control module; 个体控制模块中上位机与集群中的任一机器人建立通信,发送目标位姿、跟踪路径及目标速度给机器人;其中,跟踪路径使用二元二次方程的六个系数(a,b,c,d,e,f)表示,所代表的路径表达式如下:The host computer in the individual control module establishes communication with any robot in the cluster, and sends the target pose, tracking path and target speed to the robot; the tracking path uses the six coefficients of the quadratic equation (a, b, c, d, e, f) means that the path expression represented is as follows: ax2+by2+cxy+dx+ey+f=0ax 2 +by 2 +cxy+dx+ey+f=0 其中,x,y为位置坐标;Among them, x and y are the position coordinates; 集群控制模块中上位机与集群内所有机器人建立通信,发送集群控制命令、机器人运动状态及环境信息给各机器人;集群控制命令包括目标位置设置、目标队形设置和目标区域设置;目标区域为多边形区域和圆形区域,其中多边形区域用多边形的所有顶点坐标的集合表示,圆形区域用圆心坐标和半径表示。In the cluster control module, the host computer establishes communication with all robots in the cluster, and sends cluster control commands, robot motion status and environmental information to each robot; the cluster control commands include target position setting, target formation setting and target area setting; the target area is a polygon Areas and circular areas, where the polygonal area is represented by the set of all vertex coordinates of the polygon, and the circular area is represented by the center coordinates and radius. 7.根据权利要求6所述的集群机器人实验平台,其特征在于,所述的集群控制模块,设置有两种集群通信模式,包括:集中式通信和分布式通信;在集中式通信模式下,每个机器人都能从上位机中获得全局环境信息,包括集群内所有其它机器人的位姿以及自身的外部辅助定位信息;在分布式通信模式下,每个机器人从上位机中获得其设定范围内的局部环境信息,包括在设定范围内的其他机器人的位姿,无法获取自身的外部辅助定位信息。7. The swarm robot experiment platform according to claim 6, wherein the swarm control module is provided with two swarm communication modes, including: centralized communication and distributed communication; in the centralized communication mode, Each robot can obtain global environment information from the host computer, including the poses of all other robots in the cluster and its own external auxiliary positioning information; in the distributed communication mode, each robot obtains its set range from the host computer The local environment information within the robot, including the poses of other robots within the set range, cannot obtain its own external auxiliary positioning information. 8.根据权利要求6所述的集群机器人实验平台,其特征在于,所述的上位机,发送的命令格式为:机器人地址+功能码+数据。8 . The swarm robot experimental platform according to claim 6 , wherein the command format sent by the host computer is: robot address+function code+data. 9 .
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