CN204819543U - Centralized control formula multirobot motion control system - Google Patents
Centralized control formula multirobot motion control system Download PDFInfo
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- CN204819543U CN204819543U CN201520437800.XU CN201520437800U CN204819543U CN 204819543 U CN204819543 U CN 204819543U CN 201520437800 U CN201520437800 U CN 201520437800U CN 204819543 U CN204819543 U CN 204819543U
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Abstract
The utility model provides a centralized control formula multirobot motion control system, including centralized control center, wireless communication device, visual system device, multirobot equipment horizontalization platform and mobile robot main part, wireless communication device and visual system device are connected respectively to the centralized control center, and wireless communication device connects the mobile robot main part, and centralized control center and multirobot equipment horizontalization platform are connected respectively to the visual system device. The utility model discloses a control system totality structural design is suitable for in the structure environment multirobot motion control condition in coordination, and each conception modulaire is reasonable, stability is strong, and motion control in the time of can realizing the multirobot collaborative work effectively avoids the collision between the robot accurate, high -efficiently, reduces to hinder the real -time crisis that arouses because of keeping away to improve the stability and motion accuracy of integral control system.
Description
Technical field
The utility model relates to a kind of centralized-control type motion of multi-robots control system, especially relates to a kind of control system for multi-robot coordination routing motion in structured environment.
Background technology
Robot be one just at flourish key areas.The great achievement of its collection precision instrument, optics, electronics remote sensing technology, automatic control technology, information technology, computer technology, defines a comprehensive new technology.The appearance of Robotics and development, the looks that traditional industry is produced there occurs basic change, create significant impact to the social life of the mankind.
Along with robot performance is constantly perfect, the range of application of mobile robot is greatly expanded, not only be widely used in the industries such as industry, agricultural, medical treatment, service, and harmfully in urban safety, national defence and space exploration field etc. well applied with dangerous situation.Therefore, mobile robot technology has obtained the common concern of countries in the world.
In structured environment centralized-control type multiple mobile robot cooperative motion control situation under; to control system decision information real-time, efficiently process; effectively avoid the collision between robot, reduce because keeping away the real-time crisis that causes of barrier and being proposed higher requirement to all many-sides such as the stability of overall system control and movement accuracies.
Utility model content
The purpose of this utility model is for solving above-mentioned deficiency, provides a kind of centralized-control type motion of multi-robots Control System Design scheme.
The purpose of this utility model is achieved through the following technical solutions:
A kind of centralized-control type motion of multi-robots control system, comprise centralized control center, wireless communication apparatus, vision system device, multirobot group apparatus platform and mobile apparatus human agent, centralized control center connects wireless communication apparatus and vision system device respectively, wireless communication apparatus connects mobile apparatus human agent, and vision system device connects centralized control center and multirobot group apparatus platform respectively.
The utility model also has some technical characteristics like this:
Described vision system device comprises vision sensor and picture collection card, vision sensor connects image pick-up card and multirobot group apparatus platform, image pick-up card connects centralized control center, and the posture information of the multiple mobile robot's objective body obtaining multirobot group apparatus platform is responsible for by vision sensor.
Described mobile apparatus human agent comprises master controller, wireless receiving module, serial communication interface, motor drive module, motor and power module, master controller connects wireless receiving module, serial communication interface and motor drive module respectively, motor drive module connects master controller and motor respectively, and each functional module that power module is responsible for mobile apparatus human agent provides dc source.
Described mobile apparatus human agent can be the one of wheeled mobile robot, walking mobile robot, caterpillar mobile robot, climbing robot, squirmy robot or swimming type robot.
The utility model has effect useful as follows:
Control system general structure design of the present utility model is suitable for multirobot cooperative motion in structured environment and controls situation; modules is reasonable in design, stability is strong; motion control during multirobot collaborative work can be realized accurately and efficiently; effectively avoid the collision between robot; reduce because keeping away the real-time crisis hindering and cause, thus improve stability and the movement accuracy of overall system control.
Accompanying drawing explanation
Fig. 1 overall structure schematic diagram of the present utility model.
1-centralized control center, 2-wireless communication apparatus, 3-multirobot group apparatus platform, 4-mobile apparatus human agent, 5-vision sensor, 6-image pick-up card, 7-vision system device, 8-master controller, 9-wireless receiving module, 10-serial communication interface, 11-motor drive module, 12-motor, 13-power module
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further described:
Embodiment 1
A kind of centralized-control type motion of multi-robots control system, comprise centralized control center 1, wireless communication apparatus 2, vision system device 7, multirobot group apparatus platform 3 and mobile apparatus human agent 4, centralized control center 1 connects wireless communication apparatus 2 and vision system device 7 respectively, wireless communication apparatus 2 connects mobile apparatus human agent 4, and vision system device 7 connects centralized control center 1 and multirobot group apparatus platform 3 respectively; Described centralized control center 1 is responsible for the echo signal received, process vision system device 7 obtains, and carries out decision-making and planning in real time to multiobject motion control in multirobot group apparatus platform 3; Described wireless communication module 2 is responsible for the transmission of the decision control signal that centralized control center 1 makes; Described vision system device 7 comprises vision sensor 5 and picture collection card 6, and vision sensor 5 connects image pick-up card 6 and multirobot group apparatus platform 3, and image pick-up card 6 connects centralized control center 1; The posture information of the multiple mobile robot's objective body obtaining multirobot group apparatus platform 3 is responsible for by described vision sensor 5; Described mobile apparatus human agent 4 comprises master controller 8, wireless receiving module 9, serial communication interface 10, motor drive module 11, motor 12 and power module 13, master controller 8 connects wireless receiving module 9, serial communication interface 10 and motor drive module 11 respectively, motor drive module 11 connects master controller 8 and motor 12 respectively, and each functional module that power module 13 is responsible for mobile apparatus human agent 4 provides dc source; Described mobile apparatus human agent 4 can be the one of wheeled mobile robot, walking mobile robot, caterpillar mobile robot, climbing robot, squirmy robot or swimming type robot.
Embodiment 2
The course of work of multi-robot control system: the posture information that vision sensor is obtained multiple target body on multirobot group apparatus platform by image pick-up card is supplied to centralized control center, judgement, the decision-making of multiple target pose is carried out by centralized control center, plan the movement locus of each destination object, form the action command of each destination object, and by wireless communication apparatus, action command information is sent to each destination object---and mobile apparatus human agent, mobile apparatus human agent is obtained action command information by the wireless receiving module of self and is reached master controller and processes; Command information after process is gone to motor drive module by master controller; Mobile apparatus human agent left and right wheels motor movement speed is controlled by motor drive module; Carrying photoelectric encoder by motor feeds back to master controller by left and right wheels motion state simultaneously, thus forms velocity close-loop control feedback loop.Through the execution that constantly moves in circles of said system, just constitute the centralized-control type multi-robot control system of real time execution.
Claims (4)
1. a centralized-control type motion of multi-robots control system, comprise centralized control center, wireless communication apparatus, vision system device, multirobot group apparatus platform and mobile apparatus human agent, it is characterized in that: centralized control center connects wireless communication apparatus and vision system device respectively, wireless communication apparatus connects mobile apparatus human agent, and vision system device connects centralized control center and multirobot group apparatus platform respectively.
2. a kind of centralized-control type motion of multi-robots control system as claimed in claim 1, it is characterized in that: described vision system device comprises vision sensor and picture collection card, vision sensor connects image pick-up card and multirobot group apparatus platform, image pick-up card connects centralized control center, and the posture information of the multiple mobile robot's objective body obtaining multirobot group apparatus platform is responsible for by vision sensor.
3. a kind of centralized-control type motion of multi-robots control system as claimed in claim 1, it is characterized in that: described mobile apparatus human agent comprises master controller, wireless receiving module, serial communication interface, motor drive module, motor and power module, master controller connects wireless receiving module, serial communication interface and motor drive module respectively, motor drive module connects master controller and motor respectively, and each functional module that power module is responsible for mobile apparatus human agent provides dc source.
4. a kind of centralized-control type motion of multi-robots control system as claimed in claim 1, is characterized in that: described mobile apparatus human agent can be the one of wheeled mobile robot, walking mobile robot, caterpillar mobile robot, climbing robot, squirmy robot or swimming type robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520437800.XU CN204819543U (en) | 2015-06-24 | 2015-06-24 | Centralized control formula multirobot motion control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520437800.XU CN204819543U (en) | 2015-06-24 | 2015-06-24 | Centralized control formula multirobot motion control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204819543U true CN204819543U (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520437800.XU Expired - Fee Related CN204819543U (en) | 2015-06-24 | 2015-06-24 | Centralized control formula multirobot motion control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393144A (en) * | 2016-11-26 | 2017-02-15 | 顺德职业技术学院 | Method and system for visual tracking under multi-robot operation mode |
| CN108089582A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | A kind of centralized-control type motion of multi-robots control system |
| WO2022017296A1 (en) * | 2020-07-23 | 2022-01-27 | 炬星科技（深圳）有限公司 | Robot motion information recognition method, obstacle avoidance method, robot capable of obstacle avoidance, and obstacle avoidance system |
-
2015
- 2015-06-24 CN CN201520437800.XU patent/CN204819543U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393144A (en) * | 2016-11-26 | 2017-02-15 | 顺德职业技术学院 | Method and system for visual tracking under multi-robot operation mode |
| CN106393144B (en) * | 2016-11-26 | 2018-09-04 | 顺德职业技术学院 | The method and system that vision tracks under a kind of multirobot operation mode |
| CN108089582A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | A kind of centralized-control type motion of multi-robots control system |
| WO2022017296A1 (en) * | 2020-07-23 | 2022-01-27 | 炬星科技（深圳）有限公司 | Robot motion information recognition method, obstacle avoidance method, robot capable of obstacle avoidance, and obstacle avoidance system |
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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: 20151202 Termination date: 20160624 |