RU2691788C2 - Method for coordination of ground-based mobile automated devices using single centralized control system - Google Patents

Abstract

FIELD: physics.SUBSTANCE: invention relates to coordination of ground mobile automated devices, in particular robots located on controlled territory. At least one robot tracking device is used. Tracking devices are located on suspended platforms representing rotary devices capable of operating in modes of gyroplane, windmill, helicopter. Information from all tracking devices is transmitted to central calculation unit to determine coordinates of robots, coordinates of obstacles, borders of controlled and processed territories. Suspended platform is switched to windmill mode, charging accumulators when there is wind and there is no need to process territory, in mode of gyroplane or simultaneously gyroplane and windmill, charging accumulators, when there is wind and there is need for treatment of territory, in mode of helicopter engine, when there is no wind and there is need for treatment of territory.EFFECT: as a result, efficient navigation and coordination of robots on the monitored territory.5 cl, 2 dwg

Description

Technical field

The invention relates to methods for controlling automated devices and can be used to coordinate land mobile automated devices (automatic transport, automatic agricultural machinery, municipal and airfield equipment, garden lawn mowers, etc.), then - robots.

The level of technology

One of the main problems of navigation, coordination and control of robots is the lack of a method of cheap and reliable navigation on a controlled trajectory and mutual situational coordination of actions of a group of robots. For example, to ensure that the lawn mower does not go beyond the territory for mowing grass, it must be marked with a wire (see the Internet publication dated June 15, 2012 http://www.therobotreport.com/news/robot-lawnmowers-still- a-work-in-progress).

Recently offered systems of infrared fences or tags. A system of terrestrial beacons is also possible. But this approach greatly complicates the system.

The use of GPS navigators and even more accurate DGPS systems carries with it a number of disadvantages:

1) the GPS signal near the houses can be shielded, re-echoed, and just simply be jammed by noise accidentally or deliberately, which leads to a violation of the coordination of the robot;

2) it is necessary to measure the coordinates of the boundary of the work area (for example, the mowing area for a robotic lawnmower) and indicate them to the robot, which is a time consuming process;

3) such systems give the coordinates, but not the orientation of the robot;

4) the orientation of robots occurs at predetermined coordinates, and not the real environment of the robot (so, if a new stationary or moving obstacle (dog, child) appears, the system will not detect it);

5) such systems are not able to recognize areas that are badly mown because of errors and correct them purposefully;

6) using DGPS or GPS is difficult to organize the mutual coordination of a group of robots who do not know their mutual position and must have a complex system of mutual detection and exchange of signals;

7) satellite systems have a high cost.

Many of these problems would be solved by a video navigator mounted on a robot. But such a solution can provide a limited visibility zone for the navigator, which can be expanded only by installing a large number of cameras with a wide field of view on the robot, which greatly complicates the system. In addition, there is a need to install a number of well-distinguishable land marks by which such a system could be oriented. Natural natural labels do not always have these properties, so you need to clearly mark the controlled territory with land marks. But the mutual coordination of robots in this version remains an unsolved problem. To solve it, it is necessary to create a complex system of technical vision, which may allow the implementation of a decentralized pattern recognition system on each robot. The decentralized control system for the joint activity of robots is many times more complicated and more expensive than one centralized one.

At the present level of development of technology, a patent for utility model No. 131276 “Device for coordinating automated devices”, published on 08/20/2013, patent application No. 2012147923 “Method of navigation and joint coordination of automated devices”, published on 05/20/2014, is known. Unlike systems that use GPS navigators, in this way, before starting the work of a robot on a controlled territory, a tracking device is placed (one or more cameras), and the location and height of the suspension is selected from the condition of their joint review of the entire controlled territory. Those. Unlike GPS systems, which are located independently of the coordination goals of robots, tracking devices are placed precisely for the convenience of coordinating robots. At the same time, this method also solves GPS problems related to screening and re-reflection of signals from satellites. It should be noted that GPS satellites are not the environment or tracking devices for robots, the coordinates of which must be determined. On the contrary, the robots themselves are tracking devices for GPS satellites, and the coordinates of robots can be determined using GPS only on the robot itself and only if there are three or more of the GPS satellites in its available space zone. In the specified prototype, the effectiveness in determining the coordinates (spatial and angular) of the robot is achieved through the use of a tracking device on top (flying or located on the tower), which can be:

1. UAV

2. tower antenna

3. high-altitude tethered platform for continuous observation (tethered aerostatic dirigibles or balloons),

4. tethered aerodynamic rotary-winged due to electrical energy supplied to the screws (similar to Skysapience tethered helicopter platforms),

5. tethered rotary-wing aircraft with aerodynamic unloading due to high-altitude wind energy (autorotation), which is always present at high altitude (about 4 m / s at an altitude of 100 m, Fig. 1), for example, tethered autogyros and gyroplanes (similar to tethered autogyros Fa330, used during the Second World War by the Germans).

However, each of these methods has disadvantages:

1) UAVs are expensive and difficult to control and calculate, have a limited time of continuous observation,

2) the towers are difficult to install and place or reinstall,

3) tethered aerostatic airships or balloons require a complex pumping mechanism and are inconvenient for stabilization,

4) tethered aerodynamic rotary wings require a lot of energy,

5) tethered autogyros and gyroplanes do not fly in the absence of wind.

Technical task

The technical challenge that this invention is directed to is to create a method for effective coordination of robots based on the use of tracking devices for robots and their surroundings in a controlled area, including natural and artificial tags, located on towers or aircraft. The technical result is the same as the technical problem.

DISCLOSURE OF INVENTION

To solve this problem, a method of navigation and joint coordination of one or more robots located in a controlled area, involving the use of at least one tracking device for robots and their surroundings, with tracking devices located on one or more overhead platforms, which are rotor devices. capable of operating in modes a) of an autogyro due to wind, b) a wind turbine, receiving energy from the wind, c) a helicopter, receiving energy from ground charging its devices, natural or artificial marks, use the central calculation unit, which receives information from all tracking devices, to determine the coordinates and orientation of robots, the boundaries of the monitored and processed territories and obstacles, switch the operating modes of the suspension platform, which is a rotor device, a) in the wind turbine mode, charging the batteries of the ground supply device when there is wind and there is no need to treat the territory, b) in the autogyro mode or at the same time autogyro and a wind turbine, charging the batteries when there is a breeze, and there is a need to treat the territory, c) in the helicopter mode, when there is no wind, and there is a need to treat the territory, at the expense of batteries.

When implementing the method, the central calculation unit can be placed either on a suspension platform, or on a ground charging device, or on the robot itself.

When implementing the method, the suspension platform, which is a rotor device, is attached to a ground charging device or directly to the robot.

When implementing the method, on the ground or on the robots themselves, you can install tracking devices, and this information must also come to the control system.

When implementing the method, it is possible to generate energy using solar batteries installed on the overhead platforms, on the ground or on the robots and use it to charge the corresponding batteries, or bring them to the robots or the overhead platforms for flying in helicopter mode.

When implementing the method, energy is used from suspended platforms, which are rotary devices that are generated by high altitude wind (autorotation) to create aerodynamic unloading or to charge batteries, or to power robots, or to fly in helicopter mode.

The platform, which is a rotary device, can also be used as a drone guard for the house or site.

Brief Description of the Drawings

FIG. 1 shows a diagram of the dependence of wind power on the height for different types of terrain: urban, township and rural.

FIG. 2 shows the embodiments of the solution. The following designations are used: tethered unmanned aerial vehicle (tethered UAV) 1, charger and control device 2 with camera (s) 3; tags on earth 4 and on robot 5; natural landmark - bush 6.

The implementation of the invention

To solve the problem, a method of navigation and joint coordination of one or several robots located in the controlled area is formed by forming the routing of each robot according to the information on the coordinates of obstacles, natural or artificial marks, the boundaries of the already treated territory, the borders of the controlled territory and all robots in this territory .

The method assumes that before starting the operation of the system, in order to ensure the operation of robots in the controlled area, one or more suspended platforms with a tracking device are placed over this territory. At least one of the mentioned suspended platforms is designed as a rotary device that is capable of operating in the autogyro mode due to the oncoming wind, in the wind turbine mode, receiving energy from the oncoming wind, and in helicopter mode, receiving energy from the ground charging device.

Moreover, when there is wind and there is no need for territory processing, the suspension platform works in the wind turbine mode, charging the batteries. When there is wind and there is a need for tillage, the suspended platform works in the mode of an autogyro or an autogyro and a wind turbine at the same time, charging the batteries. When there is no wind and there is a need to treat the area, the overhead platform operates in helicopter mode due to the energy of the batteries.

Moreover, the centralized system is equipped with a central calculation unit, which is located either on a suspension platform, or on the ground, or on a ground charging device, or on a robot capable of determining the coordinates, orientation of the system elements and generating control commands based on information obtained from all the described above devices.

Thus, in all the described embodiments, the implementation of this invention creates a centralized control system for robots and, precisely because of this, the accuracy of determining their coordinates (spatial and angular) is improved.

The use of suspended platforms, which are rotary devices, with tracking devices that can operate in three different modes: autogyro mode, wind engine mode, helicopter mode, allows for effective coordination of robots and monitoring their surroundings, including natural and artificial tags. Using the described three modes allows you to complement each and compensate for the shortcomings of each individual mode.

The method is illustrated in FIG. 2, where three possible variants (a, b, c) of the proposed method are shown. On a hanging platform there are fixed cameras covering the entire lower hemisphere. It is cheaper than one controlled camera, and the wired communication channel (optical fiber or twisted pair) is reliable and capacious. You can place several cameras, both on a tethered platform, and on its suspension - at the required low height. Suspended platforms are attached to the ground (Fig. 2a), or to a ground-based charging device designed for the accumulation and release of energy (Fig. 2b), or directly to one of the robots in a controlled area (Fig. 2c).

The energy of the proposed method can additionally be generated by solar panels installed on a suspension platform, on the ground or on robots.

In the proposed solution can be used as a relative (differential) video positioning of robots relative to the site, and relative to the aircraft (tower). To coordinate the work of robots from an aircraft (tower), it is not always necessary to know the coordinates of the most suspended platform with a tracking device. Perhaps accurate (relative) positioning of robots relative to 3 or more special tags, fixed ground objects and other ground robots.

The exact coordinates of the suspension platform is not sufficient for accurate determination of the coordinates of ground robots. However, these coordinates (position and orientation) may be required to correct the projection distortion of the resulting images.

Perhaps passive video surveillance with natural and artificial lighting. Infrared and radar vision, passive reflectors and active infrared tags, infrared LEDs, etc. provide all-weather performance.

The use of multiple surveillance cameras over a controlled area (different combinations of fixed and tethered high-altitude platforms) increases the reliability, stereoscopic positioning accuracy, eliminates dead zones (for example, behind and under the trees).

To improve accuracy on the robot and on its charging device, on the ground itself can be set easily visible marks on top.

The central calculation unit, which receives information from all tracking devices, determines the coordinates and orientation of the monitored at least one robot (both relative (differential) video positioning of robots relative to the site, and relative to tracking devices (cameras), and, if necessary, determines the coordinates and orientation of tracking devices. Moreover, said block is configured to transmit control commands and signals (including RF) to robots, to tracking devices, to charging devices, and also provides the possibility of exchanging control and information signals between them.

If there are several robots, then their coordination is simple - the cameras see everyone at the same time, and a single computer system that receives this information coordinates their mutual movement. You can set the boundaries of the controlled area for robots (for example, the mowing line for the lawn mower) by marking the boundaries on the computer system screen according to the image of the terrain (for example, using the mouse arrow, or draw with a touch pencil or finger on the screen).

The system, implemented by the applied method, works as follows: before starting the system, at least one robot is placed in a controlled area (for example, on a lawn). Before the robot starts working on the controlled territory, tracking devices (one or several cameras) are placed on the overhead platforms or on the towers, and the places and height of the suspension are selected from the condition that they provide an overview of the entire controlled area.

It is also possible that the tracking device at the beginning of work is located on the ground or on one of the robots, and then in the process of work may take off, fly or land on the towers to observe the robots in a controlled area.

You can also place tracking devices for tethered platforms on the ground and on robots, which allows you to determine the relative position and orientation of tracking devices on suspended platforms and robots, as well as more accurately determine the angle of rotation of the robot and find the position of the robot in the dead zones of the cameras (under canopies or under trees) by targeting roofing of the sheds or foliage of trees visible from above above the robot.

In addition, instead of the visible signal, you can use other parts of the spectrum. Moreover, the signal can be not only natural, but also generated by a robot or a device on a camera or at another point in space. You can use audible, ultrasonic signals, radar, sensory sensors and tags (for example, smell or chemical signals or radioactivity that slightly exceeds the background level (silicon plates, for example)).

Used in the proposed method, the observation system, capable of detecting obstacles or moving objects, is able to determine the degree and quality of grass mowing. It is easy to implement and has a low cost.

The proposed method can be used for a wide range of robots: automated lawn mowers, indoor cleaning robots, tractors, snow removal, garbage, watering machines, vehicles for transporting people and goods, agricultural machinery, municipal equipment, transport and so on. The proposed method can be used for extraterrestrial robots on other planets, for example, for rovers.

The system easily fits into the framework of a “smart” home or even a “smart” city, allowing you to coordinate many actions of robots and other control objects at the same time, as well as solve many tasks at once — for example, not only navigation, but also recognition.

The invention has been disclosed above with reference to a specific embodiment. Other embodiments of the invention that do not change its essence as disclosed in the present description may be obvious to those skilled in the art. Accordingly, the description of the invention should be considered limited in scope only by the following claims.

Claims (5)

1. The method of navigation and mutual coordination of robots designed to work together in a controlled area, including the use of a robot control system having at least one robot tracking device, characterized in that the robot tracking devices are located on the overhead platforms in the form of rotary devices, having the ability to operate in an autogyro or wind turbine mode, receiving power from the wind, or in helicopter mode, receiving power from a ground charging device, The central unit for calculating the coordinates of the robots, the coordinates of the obstacles, the boundaries of the controlled territory and the processed territory is based on the coordinates of natural and artificial marks for transmitting control commands to the robots and tracking devices for exchanging control and information signals between them, while switching the mode of the suspended platforms in the presence of the wind and in the absence of the need to process the controlled area by robots in the wind turbine mode, which provides for charging the battery in the presence of wind and, if necessary, the controlled territory is processed by robots into an autogyro mode or an autogyro and wind turbine at the same time, which charges the battery of a ground charging unit, and if there is no wind and if the controlled territory needs to be processed by robots, into a helicopter mode by using energy battery ground charging device. 2. The method according to p. 1, characterized in that the central unit of calculation is placed on a suspension platform, or on the ground, or on a ground charging device, or on a robot. 3. The method according to p. 1, characterized in that the suspension platform is fixed on the ground charging device or on the robot itself. 4. The method according to p. 1, characterized in that they use the energy of solar panels mounted on an overhead platform, or on the ground, or on a ground-level charging device, or on robots, as energy to charge batteries or to fly in helicopter mode. 5. A method according to any one of claims. 1-4, characterized in that they use energy from suspended platforms, which are rotary devices, for creating aerodynamic unloading, charging batteries, powering infecting devices of robots or for flying in helicopter mode, which is generated by air flow.

Images