Pilot-following system and pilot-following control method for mobile robot

Abstract

The present invention provides a pilot following system for a mobile robot, which includes: a robot broadcasting its own historical speed information and having a sign board; a fog computing node including a wireless access module and a general computing module; a visual recognition module including a camera and a visual recognition module. The processing module, the visual processing module receives camera data, recognizes the sign board, and estimates its relative position and attitude with the preceding vehicle; the following control module is installed in the general computing module, and converts For real-time speed information. The invention also provides a pilot following control method. The pilot following system of the present invention adopts attitude and position sensors and cameras, and with the assistance of the fog computing node, uses the speed information of the vehicle in front and the visual information of the own vehicle to estimate the relative position and attitude of the follower, realizes robot formation following, and reduces the individual The hardware cost of the robot overcomes the shortcomings of existing methods that are not available in wide areas or unfamiliar environmental scenarios.

Description

technical field [0001] The invention belongs to the field of physical information systems, and relates to a pilot-following system and a pilot-following control method of a mobile robot. Background technique [0002] At present, mobile robots have been widely used in industrial manufacturing, agricultural production, service industry, rescue and rescue and other fields. They not only liberate manpower, improve productivity, but also complete tasks beyond human reach. In some scenarios, starting from actual needs or cost considerations, it is often necessary for multiple robots to cooperate to complete a certain task. Among them, multi-robot formation following driving is a common collaborative task, which requires the rear robot to move along the same route under the leadership of the pilot robot [Yang Ping, Hou Jingru, Research on Formation Control of Omnidirectional Mobile Robots, "Mechatronic Engineering", July 2017 ]. For example, in the transportation task, the leadin...

AI Technical Summary

Problems solved by technology

Prior to this, limited by communication capabilities, existing mobile robot follower control systems often used local computing power to run control algorithms; traditional access networks were simply regarded as pipelines, and robot system designers had no incentive to deploy computing components in a distributed manner.

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