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Formation system and formation method of multi-mobile robot based on wireless sensor network

A wireless sensor and mobile robot technology, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve the problems of low precision, low reliability, small application range, etc., and achieve high precision and stability

Inactive Publication Date: 2012-09-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of high cost, low precision, complex implementation, small application range, slow response speed and low reliability of the existing multi-mobile robot formation system and formation method, and propose a multi-robot system based on wireless sensor networks. Mobile robot formation system and formation method

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  • Formation system and formation method of multi-mobile robot based on wireless sensor network
  • Formation system and formation method of multi-mobile robot based on wireless sensor network
  • Formation system and formation method of multi-mobile robot based on wireless sensor network

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specific Embodiment approach 1

[0036] Specific implementation mode one: see figure 1 This embodiment will be described. The wireless sensor network-based multi-mobile robot formation system described in this embodiment includes a host computer monitoring system (1), a gateway node (2), m beacon nodes (3), and a master robot node (4) and k slave robot nodes (5); wherein master robot node (4) and slave robot node (5) are mobile nodes;

[0037] The gateway node (2), m beacon nodes (3), master robot node (4) and k slave robot nodes (5) jointly form a wireless sensor network through the ZigBee protocol;

[0038] The gateway node (2) is a control center for communication in the network, and is used to realize data transmission between the host computer monitoring system (1) and the main robot node (4);

[0039] The beacon node (3) is a fixed node with a known position, which is used to broadcast its own coordinate position information;

[0040] Each mobile node can establish wireless communication connections ...

specific Embodiment approach 2

[0050] Specific embodiment two: This embodiment is a further limitation to the multi-mobile robot formation system based on wireless sensor network described in specific embodiment one. In this embodiment, the host computer monitoring system (1) is embedded with real-time monitoring software ( 1-1), the real-time monitoring software (1-1) is used to monitor the state of the wireless sensor network, and the host computer monitoring system (1) realizes serial communication with the gateway node (2) through a serial communication interface .

specific Embodiment approach 3

[0051] Specific embodiment three: This embodiment is a further limitation to the multi-mobile robot formation system based on the wireless sensor network described in specific embodiment one. In this embodiment, the gateway node (2) includes a gateway node wireless single-chip microcomputer system (2- 1) and a gateway node status indication module (2-3), the gateway node wireless single-chip microcomputer system (2-1) has a wireless radio frequency communication function, and the gateway node wireless single-chip microcomputer system (2-1) sends status display data to the gateway node status indication A module (2-3), the gateway node status indicating module (2-3) is used for displaying the received status display data.

[0052] The status display data described in this embodiment includes the working status of the nodes in the network and the location information of the corresponding nodes. The working status includes normal and fault status, so as to realize timely sending o...

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Abstract

The invention discloses a formation system and a formation method of a multi-mobile robot based on a wireless sensor network, which belongs to the field of wireless sensor network and multi-robot control and solves the problem that the measuring range and the measuring accuracy are easily affected by environmental factors as multiple sensors are depended in the traditional multi-robot formation. In the formation system of the multi-mobile robot, the wireless sensor network is formed by gateway nodes, multiple beacon nodes, multiple master robot nodes and slave robot nodes, the communication between an upper computer monitoring system and the gateway nodes is realized through a serial communication port, the state monitoring for mobile nodes in the wireless sensor network is realized, and the beacon nodes which are used as fixed nodes are used for supplying position information support for the mobile nodes. In the formation method disclosed by the invention, target point position is sent to the master robot nodes through the gateway nodes by adopting an upper computer, the own positions of the master robot nodes and the slave robot nodes can be determined through the beacon nodes, and the master robot nodes drive all the slave robot nodes to carry out autonomous navigation towards the target point.

Description

technical field [0001] The invention designs a multi-mobile robot formation system and a formation method based on a wireless sensor network, and belongs to the field of wireless sensor network and multi-mobile robot control. Background technique [0002] In the development of modern society, automated robots are playing an increasingly important role. At present, robot technology is developing in the direction of intelligence and networking. In many occasions with harsh environments and heavy tasks, a single mobile robot can no longer replace humans to complete complex tasks, and more mobile robots need to form a certain formation and cooperate to complete tasks. At this time, the rapidity, stability and reliability of the formation will directly affect the quality of multi-robot cooperation to complete the task. Therefore, it is very important to invent an intelligent, networked multi-mobile robot formation system and formation method. [0003] At present, the existing ...

Claims

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Application Information

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IPC IPC(8): G05B19/418G05D3/00
CPCY02P90/02
Inventor 丁明理郭福娟吕飞杨冬梅庄丽丽
Owner HARBIN INST OF TECH
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