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Distributed multi-sensor mobile robot system

A mobile robot and multi-sensor technology, applied in the field of robotics, can solve the problems of limited signal processing and computing capabilities of the single-chip system, difficulty in improving the response speed of the robot, and inability to process sensor signals, etc., to achieve high-speed data processing capabilities and real-time data communication capabilities, Improve scalability and expand the effect of applications

Active Publication Date: 2009-12-30
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

The advantages of this structure are mainly simple structure and low cost, but the signal processing and computing capabilities of the single-chip system are limited, the communication rate is low, and it cannot handle more complex sensor signals, especially visual signals, which makes the overall response speed of the robot It is difficult to improve, so it cannot meet the work requirements in a complex environment

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Embodiment Construction

[0014] Various details involved in the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be pointed out that the described embodiments are only intended to facilitate the understanding of the present invention, rather than limiting it in any way.

[0015] see figure 1 The architecture diagram of the mobile robot of the present invention, in the figure, the multi-sensor mobile robot system based on the distributed structure adopts a layered architecture, and the robot control system is divided into four layers: task coordination layer, behavior planning layer, information perception layer and motion control layer.

[0016] The task coordination layer and the behavior planning layer constitute the upper-level control. Through the analysis and reasoning of the environmental information perceived by the sensor and the global information of the robot's operating status, the task scheduling and fau...

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Abstract

The invention provides a distributed multi-sensor mobile robot system, which comprises an upper-layer control part constructed by a duel-core processor in digital media SOC DMSoC and a customized embedded system framework, a bottom-layer control part consisting of a plurality of DSP units. Various units of the upper-layer control part and the bottom-layer control part are connected through a bus to form a distributed control network and realize parallel processing of functional units of a robot. In the system, the upper-layer control part is constructed by high-performance special DMSoC processor and the customized embedded system framework, the bottom-layer control part consists of the plurality of DSP units, and the various units can realize parallel processing and achieve local networkcommunications through the high-speed reliable CAN bus. The system has high-speed data processing capacity and real-time data communication capacity, reduces the size of a mobile robot platform, costand power consumption of the system, improves the extensibility and facilitates the application extending of the mobile robot.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a mobile robot control system. Background technique [0002] Mobile robot is an important field of robot research. It is a comprehensive intelligent control system including environmental perception, planning and decision-making, control and execution. Generally, mobile robots include three parts: mobile mechanism, perception system and main control system. The mobile mechanism is the carrier of the robot, which determines the movement space of the robot. There are walking mechanisms, wheel mechanisms, crawler mechanisms, etc.; the perception system includes CCD cameras, laser rangefinders, ultrasonic sensors, contact sensors, proximity sensors, infrared sensors, and radars. Positioning sensor, global positioning sensor, etc.; the main control system is equivalent to the brain of the robot, which integrates the environmental information obtained by the perception system to control the mobile...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00B25J19/02G05B19/418G05D1/02
CPCY02P90/02
Inventor 侯增广谭民梁潇梁自泽李恩陈细军杨涛马嘉蔡丽
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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