CN208013783U - The co-located system of the Mobile Robot Formation of view-based access control model - Google Patents
The co-located system of the Mobile Robot Formation of view-based access control model Download PDFInfo
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- CN208013783U CN208013783U CN201820457284.0U CN201820457284U CN208013783U CN 208013783 U CN208013783 U CN 208013783U CN 201820457284 U CN201820457284 U CN 201820457284U CN 208013783 U CN208013783 U CN 208013783U
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Abstract
The utility model discloses a kind of co-located systems of the Mobile Robot Formation of view-based access control model, 5cm grades under indoor environment of positioning accuracy is realized when highest movement speed reaches 1m/s, including a base station, three artificial landmarks, four mobile robots and a noncooperative target robot, wherein, base station is used to send control instruction to robot team formation and receives state and location information that robot returns；Artificial landmark is made of the LED of particular color, for establishing cartesian coordinate system；Noncooperative target robot is equipped with the LED of particular color, it is identified for mobile robot；Mobile robot is divided by function autonomous positioning robot and target following robot, wherein, each mobile robot is respectively with there are two cameras, Front camera is for being mutually distinguishable, lock and measuring between mobile robot, then rearmounted camera carries out co-located accordingly for identification, locking and measurement to artificial landmark or noncooperative target.
Description
Technical field
The utility model is related to the field of locating technology of mobile robot, and in particular to a kind of mobile machine of view-based access control model
The co-located system that people forms into columns.
Background technology
Since the twentieth century second half, the research of mobile robot has just obtained quick development, and in national defence, life
It is widely used in the fields such as production, industry, service, personal consumption, importance and development prospect are needless to say.Its
In, autonomous positioning is a most basic requirement of mobile robot, and such as vision guided navigation, path planning, target are surrounded and seize
Etc. the basis of more advanced function, while it being also the necessary condition that mobile robot possesses " intelligence ".But robot is certainly at this stage
The research of master positioning often concentrates on individual machine people.And under certain application backgrounds, individual machine people is in sensing range, meter
Calculation ability, processing capacity, anti-interference ability etc. have certain defect, autonomous positioning precision to tend not to very high.With it is single
Robot compares, and possesses more perception units by the robot team formation that multirobot forms, can improve sensing range；This
Outside, the increase of information content can make robot team formation obtain higher positioning accuracy；Changeable topological structure makes robot compile
Team can execute more complicated algorithm, while Distributed Parallel Computing can make system possess stronger computing capability；In addition, compiling
Robot in team can provide redundancy, to possess outstanding anti-interference ability by mutually coordinated for the completion of task.
Utility model content
The purpose of this utility model is to overcome the deficiencies of individual machine people autonomous positioning at this stage, are subsequent movement machine
Device man-based development lays the first stone, it is proposed that a kind of co-located system of the Mobile Robot Formation of view-based access control model, the system
Mobile robot has merged a variety of heat transfer agents and communication module based on visual information, reaches 1m/ in highest movement speed
In the case of s, 5cm grades under environment indoors of positioning accuracy can be realized.
The purpose of this utility model can be reached by adopting the following technical scheme that：
A kind of co-located system of the Mobile Robot Formation of view-based access control model, the co-located system include：One
A base station, three artificial landmarks, four mobile robots and a noncooperative target robot, above-mentioned base station, artificial landmark, shifting
Mobile robot and noncooperative target robot are equipped with wireless module, for carrying out mutual wireless communication；
Wherein, the base station be used for robot team formation send control instruction and receive robot return state and
Location information；The artificial landmark is made of the LED of particular color, for establishing cartesian coordinate system；The non-cooperation
Target robot is equipped with the LED of particular color, it is identified for mobile robot；Mobile robot described in four is pressed
Function divides as follows：Two mobile robots are as autonomous positioning robot, and two mobile robots are as target following machine
People, wherein the mobile robot is respectively matched there are two camera, the wherein Front camera shifting adjacent with locking for identification
LED on mobile robot, and relative distance and relative angle with adjacent mobile robot are measured, rearmounted camera is used for
Identification and locking artificial landmark or noncooperative target robot, and measure and locking artificial landmark or noncooperative target robot
Relative angle.
Further, each mobile robot is made of driving layer, sensing layer, control layer, wherein the drive
Dynamic layer is made of wheel, direct current generator, DC motor driver, absolute value encoder, the movement for driving mobile robot；
The sensing layer includes preposition Vision Table, postposition Vision Table, laser range sensor, gesture module, for obtaining machine
Device people movable information and environmental information,；The control layer includes industrial personal computer, K60 microcontrollers, and wherein industrial personal computer is as main control
Device, for obtaining camera image information and realizing co-located function, K60 microcontrollers are used as from controller, for vision
Holder is controlled, and so that it is locked and is tracked noncooperative target robot.
Further, the top of each mobile robot is equipped with the LED of particular color, as robot identity
Mark.
Further, the preposition Vision Table of the mobile robot is single-degree-of-freedom.
Further, the postposition Vision Table of the autonomous positioning robot is single-degree-of-freedom, the target following
The postposition Vision Table of robot is two degrees of freedom.
Further, each mobile robot is carried out wireless communication with base station by way of time-slotting, real
The interaction of existing control instruction, posture information, movable information, heat transfer agent.
The utility model has the following advantages compared with the existing technology and effect：
1) the utility model designs and has made four simple in structure, powerful mobile robots, can realize pair
Identification, tracking and the locking of specific objective；
2) the utility model designs and makes a set of co-located system for robot team formation, in highest movement speed
In the case of reaching 1m/s, robot can realize 5cm grades under environment indoors of positioning accuracy；
3) sophisticated functions such as the opening of this system allows target following, target to surround and seize, map structuring, environment are searched for
Follow-up addition.
Description of the drawings
Fig. 1 be the Mobile Robot Formation of view-based access control model disclosed by the utility model co-located system in mobile machine
The structure chart of people；
Fig. 2 is the structure chart of the co-located system of the Mobile Robot Formation of view-based access control model disclosed by the utility model；
Fig. 3 is the controlling cycle of the co-located system of the Mobile Robot Formation of view-based access control model disclosed by the utility model
With the schematic diagram of communication cycle.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Embodiment
The utility model discloses a kind of co-located system of the Mobile Robot Formation of view-based access control model, which includes
One base station, three artificial landmarks (being hereafter together simply referred to as road sign), four mobile robots (can be divided into two by function division
Autonomous positioning robot and Liang Ge target followings robot, hereafter together simply referred to as robot) with a noncooperative target machine
People (is hereafter together simply referred to as target).Wherein, base station is the computer of an operation application-specific, for being compiled to robot
Team sends control instruction and receives state and location information that robot returns；Road sign is mainly made of the LED of particular color,
Its main function is to establish cartesian coordinate system；Target is exactly a telecar in simple terms, can freely be moved.Mesh
The LED equipped with particular color is put on, facilitates robot that it is identified.
From the point of view of structure, each robot can be divided into driving layer, sensing layer, control layer.Drive layer mainly by wheel,
The compositions such as direct current generator, DC motor driver, absolute value encoder, the movement for driving robot；Sensing layer mainly by
Two Vision Tables (preposition Vision Table tracking road sign or target, postposition Vision Table track mutually), laser range sensors
The compositions such as (being assemblied on preposition Vision Table, moved with camera), gesture module, for obtain robot motion's information with
Environmental information；Control layer mainly by industrial personal computer, K60 singlechip groups at.Industrial personal computer is as master controller, for obtaining camera image
Information and operation co-located algorithm.K60 microcontrollers, which are used as from controller for controlling Vision Table, makes its lock
Determine and tracks target.In addition, the top of each robot is equipped with the LED of particular color, the mark as robot identity.From
(autonomous positioning robot is equipped with single for master positioning robot and the postposition Vision Table that differs only in of target following robot architecture
The Vision Table of degree of freedom, target following robot are furnished with the Vision Table of two degrees of freedom).
In addition to this, base station, artificial landmark and each robot are provided with wireless module, for carrying out mutual nothing
Line communicates.
Include mainly two stages when this system is run：Initial alignment stage and motion positions stage.In initial alignment rank
Section sends signal by base station and controls three road signs and lights in turn, at this time the rearmounted camera of each robot to the road sign lighted into
Row locking, and obtain opposite yaw angle；In addition, the Front camera of each robot carries out mutually locking, obtain between robot
Opposite yaw angle and relative distance.Then non-linear least square problem is built, and is solved using gauss-newton method, is obtained each
The initial world coordinates of a robot.The initial alignment stage terminates.
In the motion positions stage, only there are one the road sign fixations as coordinate origin to light.Liang Ge autonomous positionings robot
Front camera lock mutually, rearmounted camera lock artificial landmark；The Front camera locking of Liang Ge target followings robot is neighbouring
Autonomous positioning robot, rearmounted camera lock noncooperative target.After base station sends setting in motion instruction, four robots open
Begin to move.On the basis of initial alignment, robot interacts respective posture information, movable information and biography by time-slotting
Feel information, then by Extended Kalman filter (EKF) algorithm to oneself, other robots and noncooperative target determine
Position.
It can be seen in fig. 1 that from the angle of hardware module, robot is by industrial personal computer, motion module, preposition Vision Table
Module, postposition Vision Table module and wireless communication module composition.Wherein, industrial personal computer is mainly used for obtaining as master controller
Take camera image information, robot pose information, operation co-located algorithm and and base station communication；Motion module is mono- by K60
Piece machine, DC motor driver, direct current generator and photoelectric encoder form.K60 microcontrollers receive industrial personal computer by serial ports and send
Instruction, control wheel runs with specified speed, is then back to the speed of wheel to industrial personal computer；Similarly, forward and backward to set vision
Holder module is made of K60 microcontrollers, stepper motor driver, stepper motor, absolute value encoder and camera.K60 monolithics
Machine receives the instruction that industrial personal computer is sent by serial ports, and control Vision Table makes camera track and locks specific objective, then returns
The state of holder and camera is returned to industrial personal computer.
Fig. 2 is the system construction drawing of robot team formation co-located.It can be seen that whole system is by base station, road sign, target
And four robot F1, F2, F3 and F4 compositions (function-differentiated, F1, F2 are autonomous positioning robots, F3, F4 be target with
Track robot).Wherein, other than the modules described in Fig. 1, the LED as identity is also equipped in each robot.
In figure, base station runs upper computer software, issues control instruction to four robots by wireless module, while receiving four machines
The location information that people returns, shows on software.The preposition Vision Table module of four robots can be identified and be locked
LED in adjacent robot, and measure relative distance and relative angle with adjacent machines people；Postposition Vision Table module
Road sign or target can be identified and be locked, and measures the relative angle with road sign or target.It is described in detail by taking F1 as an example, before F1
The LED of the camera identification F2 of Vision Table module is set, stepper motor drives preposition Vision Table rotation so that camera is tracked and locked
Determine F2.Then, the laser range sensor in preposition Vision Table module and absolute value encoder measure opposite between F2
Distance and relative angle.Similarly, the camera of postposition Vision Table module identifies that road sign, stepper motor drive postposition Vision Table
Rotation so that camera tracks and locks road sign.Then, absolute value encoder in postposition Vision Table module measure with road sign it
Between relative angle.Similarly, the preposition Vision Table module locking of F2 is locked and is surveyed with F1, postposition Vision Table module is measured
Measure road sign；The preposition Vision Table module locking of F3 locks with F1, the preposition Vision Table module of F4 is measured and measures F2, they
Postposition Vision Table module then lock with measure target.In addition to this, robot can also obtain movable information from motion module,
Posture information is obtained from gesture module.In summary four robots and mesh may be implemented in the information such as observation, movement, posture
Target co-located.
Fig. 3 is the schematic diagram of system controlling cycle and communication cycle.The control of robot F1, F2, F3 and F4 in this system
Period processed is all 36ms.In controlling cycle, robot needs to complete acquisition image, processing image, filtering positioning, path rule
It draws, the work such as motion control.In addition, since robot and base station are all the wireless communications using broadcast type, if not to system
Communication cycle carry out time planning, it will collision and the loss for causing the communication information, cause system perturbations with failure.Therefore,
This system is managed communication cycle by the way of dividing timeslice.Specifically, in the starting of each communication cycle, base
It stands first broadcast transmission control instruction, the call duration time for distributing to base station is 24ms；After the information for receiving base station broadcast, F1 is at once
The information such as state, pose and the observation of broadcast transmission itself, F2, F3 and F4 are sent out again after then waiting for 30ms, 60ms, 90ms respectively
It send.This means that the timeslice for distributing to each robot is 30ms.And in the respective timeslice of robot, only should
Robot is in broadcast transmission data, information collision caused by being wirelessly communicated so as to avoid broadcast type and loss.In addition to this, machine
4 controlling cycles of device people are just equal to 1 complete communication cycle, realize being aligned for controlling cycle and communication cycle.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model is not by above-mentioned
The limitation of embodiment, under other any Spirit Essences and principle without departing from the utility model made by change, modify, replace
In generation, simplifies combination, should be equivalent substitute mode, is included within the scope of protection of the utility model.
Claims (6)
1. a kind of co-located system of the Mobile Robot Formation of view-based access control model, which is characterized in that the co-located system
System includes：One base station, three artificial landmarks, four mobile robots and a noncooperative target robot, above-mentioned base station, people
Work road sign, mobile robot and noncooperative target robot are equipped with wireless module, for carrying out mutual wireless communication；
Wherein, the base station is used to send control instruction to robot team formation and receives state and positioning that robot returns
Information；The artificial landmark is made of the LED of particular color, for establishing cartesian coordinate system；The noncooperative target
Robot is equipped with the LED of particular color, it is identified for mobile robot；Mobile robot described in four presses function
It divides as follows：Two mobile robots as autonomous positioning robot, two mobile robots as target following robot,
In, the mobile robot is respectively matched there are two camera, wherein the Front camera moving machine adjacent with locking for identification
LED on device people, and measure with the relative distance and relative angle of adjacent mobile robot, rearmounted camera for identification with lock
Determine artificial landmark or noncooperative target robot, and measures the relative angle with locking artificial landmark or noncooperative target robot
Degree.
2. the co-located system of the Mobile Robot Formation of view-based access control model according to claim 1, which is characterized in that every
A mobile robot is made of driving layer, sensing layer, control layer, wherein the driving layer is by wheel, direct current
Machine, DC motor driver, absolute value encoder composition, the movement for driving mobile robot；The sensing layer includes
Preposition Vision Table, postposition Vision Table, laser range sensor, gesture module, for obtaining robot motion's information and ring
Border information, the control layer include industrial personal computer, K60 microcontrollers, and wherein industrial personal computer is as master controller, for obtaining camera figure
As information and realize co-located function, K60 microcontrollers, which are used as from controller for controlling Vision Table, makes it
It locks and tracks noncooperative target robot.
3. the co-located system of the Mobile Robot Formation of view-based access control model according to claim 1, which is characterized in that every
The top of a mobile robot is equipped with the LED of particular color, the mark as robot identity.
4. the co-located system of the Mobile Robot Formation of view-based access control model according to claim 2, which is characterized in that institute
The preposition Vision Table for the mobile robot stated is single-degree-of-freedom.
5. the co-located system of the Mobile Robot Formation of view-based access control model according to claim 2, which is characterized in that institute
The postposition Vision Table of the autonomous positioning robot stated is single-degree-of-freedom, the postposition Vision Table of the target following robot
For two degrees of freedom.
6. the co-located system of the Mobile Robot Formation of view-based access control model according to claim 1, which is characterized in that every
A mobile robot is carried out wireless communication with base station by way of time-slotting, realization control instruction, posture information,
The interaction of movable information, heat transfer agent.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839111A (en) * | 2019-01-10 | 2019-06-04 | 王昕� | A kind of indoor multi-robot formation system of view-based access control model positioning |
| CN110007671A (en) * | 2019-03-12 | 2019-07-12 | 南方科技大学 | A kind of robot cluster co-located system and method |
| CN110147097A (en) * | 2019-04-28 | 2019-08-20 | 深兰科技（上海）有限公司 | A kind of location determining method of dispensing device, device, equipment and medium |
| CN110162094A (en) * | 2019-06-13 | 2019-08-23 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of close/intra control method of view-based access control model metrical information |
| CN111077889A (en) * | 2019-12-23 | 2020-04-28 | 西北工业大学 | Multi-mobile-robot formation cooperative positioning method for workshop tray transportation |
| CN111185904A (en) * | 2020-01-09 | 2020-05-22 | 上海交通大学 | Collaborative robot platform and control system thereof |
| CN112731923A (en) * | 2020-12-17 | 2021-04-30 | 武汉万集信息技术有限公司 | Cluster robot cooperative positioning system and method |
| CN112985259A (en) * | 2021-01-25 | 2021-06-18 | 中国人民解放军军事科学院国防科技创新研究院 | Target positioning method and system based on multi-view vision |
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2018
- 2018-04-03 CN CN201820457284.0U patent/CN208013783U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839111A (en) * | 2019-01-10 | 2019-06-04 | 王昕� | A kind of indoor multi-robot formation system of view-based access control model positioning |
| CN110007671A (en) * | 2019-03-12 | 2019-07-12 | 南方科技大学 | A kind of robot cluster co-located system and method |
| CN110147097A (en) * | 2019-04-28 | 2019-08-20 | 深兰科技（上海）有限公司 | A kind of location determining method of dispensing device, device, equipment and medium |
| CN110162094A (en) * | 2019-06-13 | 2019-08-23 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of close/intra control method of view-based access control model metrical information |
| CN110162094B (en) * | 2019-06-13 | 2022-02-22 | 中国人民解放军军事科学院国防科技创新研究院 | Intensive formation control method based on visual measurement information |
| CN111077889A (en) * | 2019-12-23 | 2020-04-28 | 西北工业大学 | Multi-mobile-robot formation cooperative positioning method for workshop tray transportation |
| CN111077889B (en) * | 2019-12-23 | 2023-04-14 | 西北工业大学 | Multi-mobile-robot formation cooperative positioning method for workshop tray transportation |
| CN111185904A (en) * | 2020-01-09 | 2020-05-22 | 上海交通大学 | Collaborative robot platform and control system thereof |
| CN112731923A (en) * | 2020-12-17 | 2021-04-30 | 武汉万集信息技术有限公司 | Cluster robot cooperative positioning system and method |
| CN112731923B (en) * | 2020-12-17 | 2023-10-03 | 武汉万集光电技术有限公司 | Cluster robot co-positioning system and method |
| CN112985259A (en) * | 2021-01-25 | 2021-06-18 | 中国人民解放军军事科学院国防科技创新研究院 | Target positioning method and system based on multi-view vision |
| CN112985259B (en) * | 2021-01-25 | 2023-05-16 | 中国人民解放军军事科学院国防科技创新研究院 | Target positioning method and system based on multi-view vision |
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