Omni-directional mobile robot docking mechanism control system and method based on visual guidance

Abstract

The invention discloses an omni-directional mobile robot docking mechanism control system and method based on visual guidance. The control system comprises an upper computer, a controller, a driver, a photoelectric detection device, an encoder and a camera, wherein the controller is connected with the upper computer; the encoder is connected with the driver and then connected with the controller; the photoelectric detection device and the industrial camera are connected with the controller; and the encoder is fixed at the joint of a mechanical arm. The method comprises the steps that the industrial camera on an active moving module is turned on, mark information on a passive moving module is searched, then the information is calculated to obtain relative pose information of the active moving module and the passive moving module, the active moving module gradually gets close to the passive moving module according to a set moving sequence, when the two modules are close to a docking state, the two modules stop moving and enter the docking process, the tail end of the mechanical arm moves to the docking position on an active connector, and a locking mechanism locks a passive connector. The system and the method are accurate and reliable in docking, and the design difficulty of the docking mechanism is reduced.

Description

technical field [0001] The invention relates to a vision-guided automatic docking control system for an omnidirectional mobile robot and a control method thereof, belonging to the field of reconfigurable robot docking. Background technique [0002] Self-reconfigurable modular robot means that a group of intelligent body units with the same structure can change their own configuration independently according to the changing working environment to adapt to the new working environment without human participation. In the field of modular multi-robot research, the realization of division of labor, collaboration and docking combination between robots is directly related to the operating range and configuration capabilities of modular robots. Among them, the determination of the relative position of the robot is the key to this problem. Only under the guidance of relatively accurate relative position information can the control system make each robot enter the docking area smoothly...

AI Technical Summary

Problems solved by technology

[0008] 1) The docking redundancy in the design of the connecting mechanism is small, and the docking range is limited;

[0009] 2) The docking process is greatly affected by the terrain, and it is often difficult for the control system to complete the task under complex terrain;

[0010] 3) The ability to obtain pose deviation information is still insufficient, especially in the process of fusion and solving of various sensor information, how to reduce the pose information error is a difficult problem;

[0011] 4) Real-time problems. The accuracy of the control system’s real-time control of the robot’s docking path based on the pose information calculated by the system needs to be improved.

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