CN204527375U - A kind of crawler type detection multi-robot system - Google Patents
A kind of crawler type detection multi-robot system Download PDFInfo
- Publication number
- CN204527375U CN204527375U CN201520154852.6U CN201520154852U CN204527375U CN 204527375 U CN204527375 U CN 204527375U CN 201520154852 U CN201520154852 U CN 201520154852U CN 204527375 U CN204527375 U CN 204527375U
- Authority
- CN
- China
- Prior art keywords
- robot
- subsystem
- remote
- pilot
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model provides a kind of crawler type detection multi-robot system, mainly comprises: caterpillar robot subsystem (1) and remote monitor and control subsystem (2).Caterpillar robot subsystem (1) comprising: monomer caterpillar robot, camera, dsp processor, wireless transmitter module, sonar probe, Bluetooth communication modules, remote control reception module, arm processor and motor drive; Remote monitor and control subsystem (2) comprising: main control computer, display interface, wireless transport module and remote-transmitter module.In caterpillar robot subsystem (1), the robot architecture of each monomer is identical, is divided into pilot robot from role and follows robot; Remote monitor and control subsystem (2) sends control command by remote control module to pilot robot, and can receive the graphicinformation that robot fed back by wireless transport module.Native system can command multiple robot to complete the tasks such as field investigation and detection simultaneously, improves synthetic operation efficiency, for emergency case and imperative duty important in inhibiting.
Description
Technical field
The utility model relates to a kind of detection multi-robot, particularly relates to a kind of crawler type detection multi-robot system.
Background technology
Multirobot is in military, space flight and industrially have very large application prospect, in the investigation and detection operation of unmanned unit, submarine navigation device group, all played vital function.Because field detection has object variety, environment polytropy, terrain complexity, compared with single robot, multirobot has been more suitable for the task of field detection.Multirobot in zones of different operation simultaneously or can be executed the task in different time, improves the efficiency of finishing the work; Multiple robot is distributed in comparatively large regions, expands the sensing range of robot system to environment, and the information exchange between each member can make location more accurately effectively; Multiple robot system reduces the design complexities of individual machine people simultaneously, improves individual machine human reriability, thus improves the reliability of whole system.Multi-robot system is applied in the work such as investigation, patrol of local and can greatly increases work efficiency; Crawler-mounted structure can the movable in the wild crossing ability of hoisting machine people, climbing and obstacle performance good, the requirement of multiple environment can be adapted to.
Utility model content
For above-described needs, the purpose of this utility model is to design a kind of crawler type detection multi-robot system, for detection and the investigation of field and harsh environment.
To achieve these goals, the utility model provides a kind of crawler type detection multi-robot system, mainly comprise: caterpillar robot subsystem (1) and remote monitor and control subsystem (2), wherein caterpillar robot subsystem (1) comprising: monomer caterpillar robot, camera, dsp processor, wireless transmitter module, sonar probe, Bluetooth communication modules, remote control reception module, arm processor and motor drive, and remote monitor and control subsystem (2) comprising: main control computer, display interface, wireless transport module and remote-transmitter module; It is characterized in that: inner at caterpillar robot subsystem (1), the robot architecture of each monomer is identical, can be divided into pilot robot and follow robot from role; Described pilot robot is responsible for the remote pilot instruction that reception remote monitor and control subsystem sends, and follows robot and is distributed in around pilot robot according to certain formation; Described pilot robot and follow between robot and send location information by Bluetooth communication modules, the position of carrying out each other is determined; When there is obstacle in environment, the formation change that can conform changes, and when pilot robot breaks down, can carry out the replacing of pilot robot; Described remote monitor and control subsystem (2) sends control command by remote-transmitter module to pilot robot, receive by wireless receiving module the graphicinformation that all robots are fed back by wireless transport module, carry out at any time monitoring outside environmental information by display interface.
This system can command multiple robot to complete the tasks such as field investigation and detection simultaneously, and the extraneous information beamed back by monitoring interface real time inspection robot, improves synthetic operation efficiency, for emergency case and imperative duty important in inhibiting.
The utility model has the following advantages:
1) multi-robot system can command multiple caterpillar robot to complete detection mission simultaneously, greatly improves work efficiency;
2) what the graphicinformation of caterpillar robot camera collection can be real-time is transferred to main control computer by wireless module, is observed by display interface, improves the actual effect of detection;
3) can change at any time when the pilot robot in multi-robot system runs into fault, the stability that the system that ensure that works in the wild.
Accompanying drawing explanation
Accompanying drawing 1 is the overall construction drawing of utility model.
Accompanying drawing 2 is the schematic diagram of multi-robot system.
Accompanying drawing 3 is the control flow chart of the robot of small-sized caterpillar belt.
In figure: 1-caterpillar robot subsystem, 2-remote monitor and control subsystem.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail:
With reference to the accompanying drawings 1, the utility model is made up of two parts: caterpillar robot subsystem and remote monitor and control subsystem and.Wherein caterpillar robot subsystem (1) is made up of camera, dsp processor, wireless transmitter module, sonar probe, Bluetooth communication modules, remote control reception module, arm processor and motor drive module; Remote monitor and control subsystem (2) is by main control computer, display interface, wireless receiving module and remote-transmitter module composition.
With reference to the accompanying drawings 2, remote monitor and control subsystem (2) sends action command by Remote module to the pilot robot in caterpillar robot subsystem (1), pilot robot accepts control command by remote control reception module, carries out work according to order; Follow the location information that robot sent by Bluetooth communication modules according to pilot robot in caterpillar robot subsystem (1), determine position and the motion conditions at oneself place; By the ambient image information that wireless transmitter module arrives to remote monitor and control subsystem (2) transmission camera collection between each caterpillar robot, by Bluetooth communication modules transmission location information separately; In system, the number of caterpillar robot can increase with the need or reduce, and maximum quantity can reach more than ten.
Accompanying drawing 3 is the control flow chart of Small track robot, wherein Fig. 3 (a) control flow chart that is pilot robot, and Fig. 3 (b) is for following the control flow chart of robot.According to Fig. 3 (a), the control flow step of pilot robot is as follows:
1) system electrification starts initialization;
2) pilot robot receives the control signal that remote monitor and control subsystem (2) sends;
3) pilot robot obtains environmental information around by camera;
4) by the formation of arm processor analysis and Control signal and environmental information determination multi-robot system;
5) position of self, speed and formation information send to each to follow robot by Bluetooth communication modules by pilot robot;
6) return the continuous detection of step 2 and whether have control signal.
According to Fig. 3 (b), the control flow step of following robot is as follows:
1) system electrification starts initialization;
2) the leader position of robot reception pilot robot transmission, speed and formation information is followed;
3) relative position that robot determines self is followed;
4) follow robot and judge whether oneself is in the desired locations of formation;
5) if be judged as YES, then follow robot and continue to travel according to current speed and direction; If be judged as NO, then adjust sense of motion and the speed of self, and return step 2;
Technical scope of the present utility model is not limited to the content on specification sheets, and all any amendments, equivalent replacement and improvement etc. made within the utility model spirit and principle, all should be included within scope.
Claims (1)
1. the utility model provides a kind of crawler type detection multi-robot system, mainly comprise: caterpillar robot subsystem (1) and remote monitor and control subsystem (2), wherein caterpillar robot subsystem (1) comprising: monomer caterpillar robot, camera, dsp processor, wireless transmitter module, sonar probe, Bluetooth communication modules, remote control reception module, arm processor and motor drive; Remote monitor and control subsystem (2) comprising: main control computer, display interface, wireless transport module and remote-transmitter module; It is characterized in that: in caterpillar robot subsystem (1), the robot architecture of each monomer is identical, can be divided into pilot robot and follow robot from role; Described pilot robot is responsible for the remote pilot instruction that reception remote monitor and control subsystem sends, and follows robot and is distributed in around pilot robot according to certain formation; Described pilot robot and follow between robot and send location information by Bluetooth communication modules, the position of carrying out each other is determined; When there is obstacle in environment, the formation change that can conform changes, and when pilot robot breaks down, can carry out the replacing of pilot robot; Described remote monitor and control subsystem (2) sends control command by remote-transmitter module to pilot robot, receive by wireless receiving module the graphicinformation that all robots are fed back by wireless transport module, carry out at any time monitoring outside environmental information by display interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154852.6U CN204527375U (en) | 2015-03-13 | 2015-03-13 | A kind of crawler type detection multi-robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154852.6U CN204527375U (en) | 2015-03-13 | 2015-03-13 | A kind of crawler type detection multi-robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204527375U true CN204527375U (en) | 2015-08-05 |
Family
ID=53741413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520154852.6U Expired - Fee Related CN204527375U (en) | 2015-03-13 | 2015-03-13 | A kind of crawler type detection multi-robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204527375U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216887A (en) * | 2015-09-28 | 2016-01-06 | 苑雪山 | A kind of portable remote is ridden instead of walk and is followed robot |
| CN105527960A (en) * | 2015-12-18 | 2016-04-27 | 燕山大学 | Mobile robot formation control method based on leader-follow |
| CN106020178A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN107092271A (en) * | 2017-04-11 | 2017-08-25 | 南京工程学院 | Multi-rotor aerocraft environmental monitoring system and method based on Compliance control |
| CN114035583A (en) * | 2021-11-18 | 2022-02-11 | 新石器慧通（北京）科技有限公司 | Vehicle control method, device, electronic equipment and computer readable storage medium |
-
2015
- 2015-03-13 CN CN201520154852.6U patent/CN204527375U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216887A (en) * | 2015-09-28 | 2016-01-06 | 苑雪山 | A kind of portable remote is ridden instead of walk and is followed robot |
| CN105527960A (en) * | 2015-12-18 | 2016-04-27 | 燕山大学 | Mobile robot formation control method based on leader-follow |
| CN106020178A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN106020178B (en) * | 2016-08-01 | 2023-04-18 | 天津理工大学 | Autonomous spherical amphibious multi-robot communication system and working method thereof |
| CN107092271A (en) * | 2017-04-11 | 2017-08-25 | 南京工程学院 | Multi-rotor aerocraft environmental monitoring system and method based on Compliance control |
| CN114035583A (en) * | 2021-11-18 | 2022-02-11 | 新石器慧通（北京）科技有限公司 | Vehicle control method, device, electronic equipment and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204527375U (en) | A kind of crawler type detection multi-robot system | |
| CN109917767B (en) | Distributed unmanned aerial vehicle cluster autonomous management system and control method | |
| Dai et al. | Automatic obstacle avoidance of quadrotor UAV via CNN-based learning | |
| CN107589752B (en) | Method and system for realizing cooperative formation of unmanned aerial vehicle and ground robot | |
| US20190054631A1 (en) | System and method for operating and controlling a hyper configurable humanoid robot to perform multiple applications in various work environments | |
| US11740624B2 (en) | Advanced control system with multiple control paradigms | |
| CN110647145A (en) | Ground mobile robot and unmanned aerial vehicle cooperative operation system and method based on security | |
| JP7044061B2 (en) | Mobiles, mobile control systems, mobile control methods, interface devices, and programs | |
| CN103057712A (en) | Integration flight control system for miniature flying robot | |
| CN109213159A (en) | A method of marine Situation Awareness, which is carried out, with unmanned plane monitors ship path | |
| CN107933915A (en) | A kind of air-robot based on six rotor wing unmanned aerial vehicles | |
| WO2010057266A1 (en) | Robot mustering of animals | |
| CN109799837A (en) | A kind of UAV flight control system | |
| CN111103897A (en) | Multi-robot formation control method and system in obstacle environment | |
| CN107671864B (en) | Arrange and explode robot intelligence control system | |
| US20230286158A1 (en) | Autonomous sense and guide machine learning system | |
| CN108445884A (en) | A kind of patrol system and method based on the collaboration of more unmanned boats | |
| CN106143657A (en) | A kind of crawler type detection multi-robot system | |
| Zhu et al. | Hawkeye: Open source framework for field surveillance | |
| CN114995361A (en) | Collision detection and avoidance along a current route of a robot | |
| Ortiz et al. | A control software architecture for autonomous unmanned vehicles inspired in generic components | |
| CN114137992A (en) | Method and related device for reducing shaking of foot type robot | |
| Kurdi et al. | Design and development of efficient guidance system using multifunctional robot with quadcopter | |
| CN113126645A (en) | Light long-range AUV control system | |
| Li et al. | The development on obstacle avoidance design for a humanoid robot based on four ultrasonic sensors for the learning behavior and performance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20160313 |