CN102122171B - Multi-micronano detector networking joint demonstration verification system based on intelligent mobile robot - Google Patents

Abstract

A multi-micro-nano detector network joint demonstration and verification system based on intelligent mobile robots, including ground collaborative control workstations, collaborative control model libraries, on-board wireless communication equipment simulators, intelligent mobile robots, GPS receivers and visual navigation equipment, Display terminal; the ground collaborative control workstation controls the coordinated work, formation change and maintenance of the entire system; the collaborative control model library provides control algorithms and control models for the ground collaborative control workstation; Provide a communication link; the intelligent mobile robot is used as the carrier of the GPS receiver and the wireless communication equipment simulator on the star, and its movement is controlled by the control workstation to simulate the relative position change between the stars; the GPS receiver and the visual navigation equipment realize the relative position between the stars Navigation; the display terminal displays the joint verification results of the network in real time; the invention can effectively reduce the test cost of the multi-micro-nano detector network detection system, shorten the research and development cycle, and has important engineering application value.

Description

A joint demonstration and verification system of multi-micro-nano detector network based on intelligent mobile robot

technical field

The invention relates to a network joint demonstration and verification system, which is suitable for the research on the theoretical method and engineering application technology of the new concept technology of multi-detector network formation detection, and the joint demonstration and verification of micro-nano detector network.

Background technique

In the 21st century, research on micro-nano-satellites and their applications has entered a new stage. As an important aspect of the application of micro-nano satellites, the formation flight technology of micro-nano-satellites is also generally considered to be an inevitable trend in the application mode of micro-nano-satellites in the future. Compared with the traditional single satellite, the distributed sensor system composed of multiple micro-nano satellites can have better flexibility and redundancy, which can reduce the risk of mission failure; compared with the traditional single large satellite, the small Satellite formation flight can provide a distributed space platform for scientific experiments in low-Earth orbit, which is difficult to achieve with a single large satellite. At the same time, with the further development of micro-nano-satellite technology and the establishment of a single-satellite standardized platform, the time to complete formation flight system combination will inevitably be shortened. The formation flight of micro-nano-satellites can not only greatly improve the ability to perform space missions, but also open up many new space application fields. How to deal with the in-orbit flight control of many space-based small satellite formations and a large number of satellite-ground TT&C and communications are new problems faced by the ground TT&C center. Although there are already a large number of space missions using or considering the use of micro-nano satellite formation flight technology, but for now, the focus of more satellite formation flight research is still on the verification and exploration of the system.

Due to the high reliability of the micro-nano-satellite formation flight system and the redundant design, there have been many missions in the world that use micro-nano-satellite formation flight to implement deep space exploration. NASA, European Space Agency, Canadian Space Agency and Japan Aerospace Exploration Agency have proposed corresponding deep space exploration plans. At present, the network communication and cooperative control technology between multi-micro-nano detectors is still one of the key core technologies to realize the deep space multi-micro-nano detector network formation, and it is the technical bottleneck of deep space exploration scientific experiments. The communication system of micro-nano detectors must not only meet the requirements of low power consumption, small size, and low quality, but also must meet the networking communication between the communication network topologies that require different configurations of formation networking for the same scientific task, so as to finally realize Cooperative control among multi-micro-nano detectors. Therefore, in order to ensure the completion of scientific detection tasks, to provide basic conditions for the research of new concept technologies for multi-detector formation networking, and to demonstrate multi-micro-nano detector formation networking communication and cooperative control technology, and to build a ground demonstration of formation networking The verification system is the most effective way to solve the above problems. However, there are still many defects and deficiencies in the current micro-nano-satellite formation network demonstration verification and experimental exploration: (1) Most of the traditional verification methods use computer simulation verification. Although basic function verification can be performed, the error performance of real system components cannot be verified. Effective verification; (2) Flight network verification is costly, long-term, and inefficient; (3) Satellite formation networking brings a large amount of real-time data and the dissemination and processing of control instructions, and traditional control methods and data processing are difficult to do well (4) Excessive control, adjustment, communication and adjustment of attitude and position between the satellites increase the data processing pressure of the satellite management subsystem.

Contents of the invention

The technical problem of the present invention is: to overcome the above deficiencies, and to provide a multi-micro-nano detector network joint demonstration and verification system based on an intelligent mobile robot that verifies the cooperative control technology and the satellite network formation technology.

The technical solution of the present invention is: a multi-micro-nano detector network joint demonstration and verification system based on an intelligent mobile robot, including a display terminal (1), a collaborative control model library (2), a ground collaborative control workstation (3), On-star wireless communication equipment simulator (4), intelligent mobile robot (5), GPS receiver (6) and visual navigation equipment (7); on-star wireless communication equipment simulator (4), intelligent mobile robot (5), There are n GPS receivers (6) and visual navigation equipment (7), respectively, and the on-board wireless communication equipment simulator (4), GPS receiver (6) and visual navigation equipment (7) are respectively loaded on n intelligent mobile robots (5), where:

The collaborative control model library (2) is equipped with control algorithms and control models for constructing position information and orbit control information of intelligent robots, including compound layered anti-jamming control algorithms for realizing formation maintenance, transformation and reconstruction functions of intelligent robots, and multi-objective optimization Algorithm, composite layered anti-interference control model, multi-objective optimization model; the collaborative control model library (2) provides corresponding control algorithms and control models according to the decision results and control strategies of the ground collaborative control workstation (3);

The ground collaborative control workstation (3) controls the collaborative work of the entire system, and the formation transformation and maintenance of intelligent robots; the ground collaborative control workstation (3) makes design decisions for the entire formation task process according to the current environmental information, and adopts corresponding control strategies according to the decision results and the corresponding control algorithm in the collaborative control model library (2); in addition, the intelligent mobile robot (5) sends back its state information to the ground collaborative control workstation (3), so that the ground collaborative control workstation (3) can Changes and state information of the intelligent mobile robot (5) redesign and plan tasks, reschedule each intelligent mobile robot, control the communication of the entire system, and control the intelligent mobile robot to maintain and change formation according to the needs of collaborative tasks;

The on-board wireless communication equipment simulator (4) simulates the information transmission process between satellites in space through the equipment, and verifies the inter-satellite data sending and receiving capabilities based on n intelligent mobile robots (5), providing a collaborative control for intelligent mobile robots (5) and the ground A communication link is provided between the workstations (3);

The intelligent mobile robot (5) is used as the carrier of the GPS receiver (6) and the on-board wireless communication equipment simulator (4), and receives the control commands issued by the ground cooperative control workstation (3) through the on-board wireless communication equipment simulator (4) To control its own movement, and the absolute position and relative position changes between intelligent mobile robots (5);

The GPS receiver (6) is used to measure the position information of the intelligent mobile robot (5) and the relative position information between two different intelligent mobile robots (5) in real time, and the measurement results are returned via the on-board wireless communication device simulator (4) To the ground cooperative control workstation (3);

The visual navigation device (7) assists the GPS receiver (6) to measure the position information of the intelligent mobile robot (5) in real time and the two intelligent mobile robots ( 5) Relative position information between them;

The display terminal (1) is a three-dimensional visual demonstration system, which is connected with the ground cooperative control workstation (3) through the RS232 serial port, and displays the result information of collaborative work, network formation transformation and maintenance in real time.

The principle of the invention is that n intelligent mobile robots are respectively loaded with on-board wireless communication equipment simulators, GPS and visual navigation equipment. The on-board wireless communication equipment simulator simulates the information transfer process between satellites in space to verify the ability to send and receive inter-satellite data and the ability to receive commands from ground system control workstations; GPS receivers and visual navigation equipment measure the position information of mobile robots in real time and The relative position information between two different mobile robots; the intelligent mobile robot will communicate with the ground cooperative control workstation in real time through the acquired position information and the mutual information transmission process, and receive the ground system control workstation instructions through the on-board wireless communication equipment simulator, Complete movement, overcoming vertical obstacles, climbing, etc., and demonstrate and verify the coordination model and formation maintenance, transformation and reconstruction functions. The ground collaborative control workstation uses the control algorithm and control model provided by the collaborative control model library to control the communication of the entire system, and controls the intelligent robot to maintain and change the formation according to the needs of the collaborative task; the display terminal is a 3D visual demonstration system, and the whole task is displayed in real time Network joint verification result. The various parts are mainly connected through wireless communication equipment simulators, and the demonstration and verification of the scientific detection task of multi-micro-nano detector distributed networking to detect the space environment is realized through measurement and control communication and digital transmission simulation, networking and collaborative control simulation.

The advantage of the present invention compared with prior art is:

(1) The present invention has a complete formation system, and receives ground system control workstation instructions through a wireless communication simulator, avoiding too much control, adjustment, communication, attitude and position adjustment between the stars, and reducing the data of the star management subsystem It plays an important role in handling pressure and reducing fuel consumption. At the same time, it solves the new problems faced by the current multi-micro-nano detector formation on-orbit flight control and a large number of satellite-ground measurement, control and communication.

(2) The multi-micro-nano detector network joint demonstration verification system based on the intelligent mobile robot of the present invention can effectively complete the verification of the collaborative model through the control decision-making and various control algorithms of the ground collaborative control workstation, and reduce the number of multi-micro-nano detectors. The test cost of the scientific detection task system of the distributed network detection of the space environment can be reduced, and its development cycle can be shortened. This provides the basic condition guarantee for the research on the new concept technology of multi-detector formation networking, system characteristics and engineering applications, and has important theoretical and practical significance. It has practical significance, and also overcomes the low power consumption, small size, and low quality requirements of the traditional micro-nano detector communication system, and overcomes its shortcomings of high cost, long research and development cycle, and poor real-time performance.

Description of drawings

Fig. 1 is the structural composition schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the ground cooperative control mode of the present invention;

Fig. 3 is a working principle diagram and a control realization flowchart of the ground cooperative control workstation of the present invention;

Fig. 4 is the working flowchart of the on-star wireless communication equipment simulator of the present invention;

Fig. 5 is a structural diagram of the intelligent mobile robot system of the present invention.

Detailed ways

The characteristics of the present invention are: ① establishing the demonstration and verification of the scientific detection task of realizing the distributed networking of multi-micro-nano detectors through measurement and control communication and digital transmission simulation, networking and cooperative control simulation; Demonstrate and verify the attitude measurement and control of the spacecraft's full mission process and the joint verification results of networking; ③The on-board wireless communication equipment simulator simulates the information transmission process between satellites in space through equipment, and verifies the inter-satellite data transmission based on multiple intelligent mobile robots and receiving capabilities; ④The ground collaborative control workstation builds a collaborative control model that includes the location information of intelligent robots and satellite orbit control information, and controls the intelligent robots to maintain and change formation according to the needs of collaborative tasks; ⑤The intelligent mobile robot acts as a GPS receiver and on-board The carrier of the wireless communication equipment simulator receives the command of the ground system control workstation through the wireless communication equipment simulator on the star.

As shown in Figure 1, the present invention consists of a display terminal 1, a cooperative control model library 2, a ground cooperative control workstation 3, an on-board wireless communication device simulator 4, an intelligent mobile robot 5, a GPS receiver 6 and a visual navigation device 7, The display terminal 1 is a three-dimensional visual demonstration system, through the RS232 serial port, it displays the joint verification results of the whole task in real time; the ground collaborative control workstation 3 makes design decisions for the entire formation task process according to the current environmental information, and adopts corresponding control strategies according to the decision results and the corresponding control algorithm in the collaborative control model library 2;

The collaborative control model library 2 is equipped with control algorithms and control model software for constructing position information and orbit control information of intelligent robots, including composite layered anti-jamming control algorithms and multi-objective optimization algorithms for realizing formation maintenance, transformation and reconstruction functions, Composite layered anti-interference control model, multi-objective optimization model, etc., provide corresponding control algorithms and control models according to the decision results and control strategies of the ground collaborative control workstation 3;

The composite layered anti-jamming control algorithm adopts a composite layered anti-jamming controller. Firstly, a reduced-order disturbance observer is designed to estimate and offset the disturbance described by the external model in the multi-source disturbance control system; secondly, the design has H _∞ and guaranteed cost The controller of the performance index, in which the H _∞ performance index suppresses the energy-bounded disturbance of the system, and the performance index of the guaranteed cost suppresses the random disturbance of the system, and can optimize the upper bound of the variance; use the separation design method to construct a composite layered anti-interference controller; Finally, based on the convex optimization algorithm, the gain matrix of the composite layered anti-jamming controller is solved; the multi-objective optimization algorithm adopts a new cooperation method between subgroups to establish a multi-objective optimization model for the multi-robot path planning problem, and a multi-objective optimization model is given. Coordination strategy for collision avoidance between robots, and according to the characteristics of the path planning problem, a heuristic group initialization method based on the prior knowledge of the problem and deletion, repair and smoothing operators are introduced into the proposed algorithm, so that the algorithm can effectively solve the problem Simultaneous optimization of multiple performance indicators;

In addition, the mobile robots send their state information back to the ground cooperative control workstation 3, so that they can redesign and plan tasks according to the dynamic changes of the current environment and the state information of the robots, reschedule each robot, and control the communication of the entire system. , and according to the needs of collaborative tasks, control the intelligent robot to maintain and change the formation;

The on-board wireless communication equipment simulator 4 is composed of an antenna, a radio frequency unit, a baseband processing unit, and a comprehensive processor. It adopts the implementation method of intermediate frequency digitization, and digitizes the input of the radio frequency channel; it is respectively loaded on n independent intelligent robots , simulate the information transmission process between satellites in space through equipment, and verify the ability of sending and receiving data between satellites and receiving commands from ground system control workstations based on intelligent mobile robots;

The intelligent mobile robot 5 is mainly composed of a walking system, a sensor system, an operating system, and an external interface. There is an ARCOS server system, which connects the robot controller to the ground system control workstation through the serial port, and runs upper-level intelligent control software on the ground system control workstation, such as obstacle shielding, positioning, navigation, etc.; different robot server systems can run the same The upper-layer intelligent software can also share multiple upper-layer control tasks on a robot server, and can complete distributed communication and advanced robot control tasks; most of the time, the robot runs in server mode and uses the ground system to control Familiar environment on the workstation, through the use of high-level software to quickly call various functions of the robot; GPS receiver 6 is mainly used to measure the position information of the mobile robot and the relative position information between two different mobile robots in real time, its positioning accuracy and measurement accuracy All can reach a very high level; the visual navigation device 7 obtains the status information of the robot and the environment in real time through the camera, and transmits the information to the video acquisition card through the communication cable, and assists the GPS receiver to measure the position of the robot and the relative position between the two robots in real time information.

As shown in Figure 2, the schematic diagram of the ground cooperative control mode of the present invention, the main control computer designs the entire formation task process according to the robot operating environment, and at the same time performs path planning for the mobile robot, and performs feedback control output control by detecting the current state of the mobile robot Instructions, the control instructions are sent to each robot through the wireless communication network, so that each robot moves along its own trajectory, guides it to reach a certain formation from the initial state and maintains the formation, and responds accordingly when the environment changes. The formation can be changed in a timely manner to adapt to the current environment; the mobile robots will send their status information back to the main computer, and after the control instructions collect the data of all the robots through the main control computer, the overall coordination and optimization of the entire system will be carried out; the ground control center will control the entire formation. Planning and dispatching, and at the same time, the ground control center also establishes communication links with each satellite. In this mode, the control instructions of the robot come directly from the main control computer, and the main control computer can perform feedback control according to the overall information, so it can be quickly realized. Motion control of each robot along the track.

As shown in Figure 3, it is the working principle diagram and the control realization flowchart of the ground collaborative control workstation of the present invention, the whole control system is made up of multi-robot system workspace, real-time conversion interface, and decision-making module; multi-robot system workspace mainly completes For the control of the multi-robot system, the visual servo control method of visual feedback or other control methods are used to realize the single control of the robot; the functions of the decision-making module mainly have three aspects: one is to monitor the possible occurrence of the multi-robot system during the movement process; The second is to determine the current control strategy based on the identification of the environment by the real-time interface, including formation control strategy, obstacle avoidance control strategy and tracking control strategy; the purpose of the formation control strategy is to guide the multi-robots from the initial state to a certain A formation formation, which can maintain the formation after the formation is formed, and change the formation accordingly when the environment changes to adapt to the current environment; the purpose of the tracking control strategy is to enable the robot to accurately track the planned path; the obstacle avoidance control strategy The purpose is to enable multi-robots to avoid obstacles in the process of travel; these behavior control strategies constitute a set of behaviors that the robot can execute, and the behaviors in the set can be adjusted according to the needs of specific tasks; the third is based on the operating environment of the robot intelligent planning and decision-making, including task planning and behavior decision-making; the main function of the real-time interface is to effectively perceive and identify the system status, the status of each intelligent mobile robot and the working environment, so as to provide decision-making information for the decision-making module. According to the basis, environmental information is usually obtained through various sensors carried by the robot, and the obtained information is processed through sensor fusion, which can greatly improve the environmental perception ability of the multi-robot system; in addition, the real-time interface can also be based on the upper decision-making Switching the appropriate control law based on the results, driving the underlying feedback control to achieve the current motion and behavior, and reconfiguring the system if a system failure occurs.

As shown in Figure 4, the working flow chart of the on-board wireless communication equipment simulator of the present invention is composed of antenna, radio frequency unit, baseband processing unit, integrated processor, etc.; in order to reduce the mass volume of sending and receiving signals, the realization mode of intermediate frequency digitization is adopted ; After the signal received by the antenna is processed by the RF unit of the transmitter, the analog intermediate frequency output is converted to the baseband processing unit through the frequency mixing module and the analog-to-digital conversion module in the integrated processor, and then the baseband signal is processed. Sampling is carried out, channel distortion processing is performed on the signal in the digital domain, and then spectrum up-conversion processing is performed through the digital-to-analog conversion module and the frequency mixing module in the integrated processor, and the analog intermediate frequency output is obtained, and then the analog signal is obtained through the receiver radio frequency unit.

As shown in Figure 5, the intelligent mobile robot system structural diagram of the present invention is made up of walking system 51, sensing system 52, operating system 53 and external interface 54, and operating system 53 adopts LPC2132, and it serves as the main control board of the whole system, Equipped with ARCOS server system, connect the robot controller with the ground system control workstation through the serial port, run the upper intelligent control software on the ground system control workstation, such as obstacle avoidance, positioning, navigation, etc., and coordinate and manage each subsystem ; Sensing system 52 is made up of GPS, wireless module and visual navigation equipment, GPS receiver and visual navigation equipment measure the position information of mobile robot and the relative position information between two different mobile robots in real time, information is transmitted to video by communication cable Acquisition card, to measure the running state of the robot to simulate the monitoring of the satellite state by the on-board measurement and control device, and transmit various sensed signals to the operating system 53 to drive the walking system 51 during the operation of the robot, and the execution of the walking system 51 The mechanism is mainly composed of two motors to drive the mobile robot to move on the ground, realize the formation, maintenance and reconstruction of the formation through the control law, and complete various actions under the control of the operating system 53; at the initial moment, each intelligent mobile robot At any position, under the control of the main control computer, they move according to the predetermined trajectory issued by the control command, thereby forming a certain formation and maintaining the formation; the external interface 54 communicates with other robot nodes and ground cooperative workstations through the wireless communication module. to communicate.

The contents not described in detail in the description of the present invention belong to the prior art known to those skilled in the art.

Claims (4)

1. the many micro-nanos detector networking associating demonstration and verification system based on intelligent mobile robot is characterized in that comprising: Wireless Telecom Equipment simulator (4), intelligent mobile robot (5), GPS receiver (6) and vision guided navigation equipment (7) on display terminal (1), Collaborative Control model bank (2), ground Collaborative Control workstation (3), the star; Wireless Telecom Equipment simulator (4), intelligent mobile robot (5), GPS receiver (6) and vision guided navigation equipment (7) respectively are n on the star, Wireless Telecom Equipment simulator (4), GPS receiver (6) and vision guided navigation equipment (7) are loaded in respectively on the intelligent mobile robot (5), wherein on the star:

Collaborative Control model bank (2) is equipped with control algolithm and the control model that makes up intelligent robot positional information and rail control information, comprise the composite layered antidisturbance control algorithm of realizing intelligent robot formation keeping, conversion and recombination function, multi-objective optimization algorithm, composite layered antidisturbance control model, Model for Multi-Objective Optimization; Collaborative Control model bank (2) provides corresponding control algolithm and control model according to the result of decision and the control strategy of ground Collaborative Control workstation (3);

Collaborative work, intelligent robot evolution and the maintenance of ground Collaborative Control workstation (3) control whole system; Ground Collaborative Control workstation (3) carries out design decision according to current environment information to whole formation task process, takes corresponding control algolithm in corresponding control strategy and the Collaborative Control model bank (2) according to the result of decision; In addition, intelligent mobile robot (5) separately status information returns to ground Collaborative Control workstation (3), make ground Collaborative Control workstation (3) redesign and plan task according to the dynamic change of current environment and the status information of intelligent mobile robot (5), each intelligent mobile robot is rescheduled, the communication of control whole system, and according to the cotasking needs, the control intelligent mobile robot keeps and the change formation;

Wireless Telecom Equipment simulator (4) is by information exchanging process between equipment simulating space Satellite on the star, based on data input and data output ability between n intelligent mobile robot (5) checking star, for providing communication link between intelligent mobile robot (5) and the ground Collaborative Control workstation (3);

Intelligent mobile robot (5) is as the carrier of Wireless Telecom Equipment simulator (4) on GPS receiver (6) and the star, receive steering order that ground Collaborative Control workstation (3) sends by Wireless Telecom Equipment simulator (4) on the star and control self and move, and the absolute position between intelligent mobile robot (5) and relative position change;

GPS receiver (6) is used for measuring in real time the positional information of intelligent mobile robot (5) and the relative position information between two different intelligent mobile robots (5), and measurement result Wireless Telecom Equipment simulator (4) on star returns to ground Collaborative Control workstation (3);

Vision guided navigation equipment (7) comes assistant GPS receiver (6) to measure in real time the positional information of intelligent mobile robot (5) and the relative position information between two intelligent mobile robots (5) by real time image collection and the processing to ground and adjacent intelligent mobile robot (5);

Display terminal (1) is the three-dimensional vision demo system, is connected with ground Collaborative Control workstation (3) by the RS232 serial ports, shows in real time the object information of collaborative work, networking evolution and maintenance.

2. the demonstration and verification system is united in a kind of many micro-nanos detector networking based on intelligent mobile robot according to claim 1, and it is characterized in that: described ground Collaborative Control workstation (3) is comprised of multi-robot system work space, decision-making module and real-time translation interface; The multi-robot system work space is finished the control to multi-robot system, adopts the visual servo control method of visual feedback or other control methods to realize the monomer of robot is controlled; The function of decision-making module mainly contains three aspects: the one, and some failure conditions that the monitoring multi-robot system may occur in motion process, the 2nd, the real-time translation interface of basis decides the current control strategy that should take to the identification of environment, the control strategy of taking fed back to call corresponding control algolithm behind the multi-robot system work space and control, comprise formation control, follow the tracks of control and keep away barrier control, the 3rd, carry out intelligent planning and decision-making according to perception and event recognition to robot running environment, comprise mission planning and behaviour decision making; Translation interface carries out effective perception and identification to system state, each intelligent mobile robot (5) state and working environment in real time, make ground Collaborative Control workstation (3) provide foundation according to the status information of the dynamic change of current environment and intelligent mobile robot (5) to the decision-making of decision-making module, in addition, translation interface can also switch suitable control law according to the result of upper strata decision-making module in real time, the FEEDBACK CONTROL that drives bottom realizes current motion and behavior, and if the reconstruct that the system failure is then carried out system occurs.

3. the demonstration and verification system is united in a kind of many micro-nanos detector networking based on intelligent mobile robot according to claim 1, and it is characterized in that: Wireless Telecom Equipment simulator (4) is comprised of antenna, radio frequency unit, baseband processing unit, comprehensive treatment device, star ground transceiver on the described star; In order to reduce the quality volume of receiving and transmitting signal, adopt the implementation of if digitization; By antenna reception to signal carry out after intermediate-freuqncy signal processes through the transmitter radio frequency unit, analog intermediate frequency output is carried out the frequency spectrum down coversion by the frequency mixing module in the comprehensive treatment device and analog-to-digital conversion module move on to baseband processing unit, afterwards baseband signal is sampled, at numeric field signal being carried out channel distortions processes, carry out the frequency spectrum upconversion process through D/A converter module and frequency mixing module in the comprehensive treatment device more afterwards, obtain obtaining simulating signal through the receiver radio frequency unit again after the analog intermediate frequency output.

4. the demonstration and verification system is united in a kind of many micro-nanos detector networking based on intelligent mobile robot according to claim 1, it is characterized in that: described intelligent mobile robot (5) is as the carrier of wireless telecommunications system simulator (4) on GPS receiver (6) and the star, by running gear (51), sensor-based system (52), operating system (53) and external interface (54) form, operating system (53) is as the master control borad of whole system, the various signals that sensor-based system (52) will sense during the robot running send operating system (53) to and drive running gear (51), running gear (51) is finished each action under the control of operating system (53), external interface 54 carries out communication by wireless communication module and other machines people node and collaborative work station, ground.

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