CN105137961B - A kind of self-repair method of extensive crystal lattice type modular robot system - Google Patents
A kind of self-repair method of extensive crystal lattice type modular robot system Download PDFInfo
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Abstract
The invention provides a kind of self-repair method of extensive crystal lattice type modular robot system, this method acts three big processes by fault diagnosis, hormone secretion and selfreparing and formed, wherein：Failure diagnostic process detection module robot fault situation, estimate failure scale, and trigger selfreparing event；Activation hormone and inhibitory hormone in hormone secretion process excretory system network, hormone are diffused and decayed in a network, and guide the progress of failure selfreparing；Selfreparing action process selects the target location of hole movement according to the activation hormone around hole and inhibitory hormone concentration, and separated according to gait table, transition, expansion, combination, to complete hole movement.The present invention is applied to extensive crystal lattice type modular robot system, and remediation efficiency is higher, supports multiple faults module to repair simultaneously.
Description
Technical Field
The invention relates to the technical field of robot control methods, in particular to a self-repairing method of a large-scale crystal format module robot system, which is used for realizing self-repairing of the system under the condition that sub-modules have faults.
Background
The modular robot is a robot system consisting of a plurality of autonomous intelligent modules, changes the overall configuration by utilizing the connectivity and interchangeability among the modules and the ambient environment information sensed by the sensors of the modules, expands the movement form, realizes different movement gaits and completes corresponding operation tasks by mutual operation among a large number of modules. The robot is suitable for occasions with large change of working environment and complex operation tasks, such as space operation, disaster relief search, battlefield reconnaissance, nuclear power station maintenance and the like.
When a plurality of module robots in the system have faults, the positions of the fault module robots need to be automatically positioned, and fault types are identified. The structure is changed through the mutual movement between the modules, and the fault module is replaced by the normal module, which is the self-repairing process of the modular robot.
At present, the self-repairing research of a modular robot becomes a hot spot, and the key of the self-repairing research is a self-repairing method. The existing technologies can be classified into a centralized method and a distributed method.
The centralized method is that the module robot is only used as an executing terminal, and the module robot collects information such as environment, connection and the like and transmits the information to an upper computer. The upper computer processes the collected data, sends the processing result to each module and executes the operation by the module, and the typical methods include a genetic method, a finite state machine and a divide-and-conquer method. In the method, the upper computer can obtain the information of all the modules, the decision is convenient, and the coordination and conflict problems among the modules are generally not considered; the system has the defects of low response speed, high communication requirement on the module and the upper computer, large load of the upper computer and system paralysis caused by the fault of the upper computer.
In the distributed method, each module is provided with a processor, and the module carries out decision making according to the obtained environment information and the self state. The actions of the whole robot system are combined through the actions of a large number of modules. In the distributed method, an upper computer is not arranged, so that the modules need to finish fault diagnosis and path planning by themselves.
In terms of fault diagnosis, there is an Adaptive DSD method. The idea of this method is: starting from a normal module, firstly detecting the next module, if the module is abnormal, recording the fault and skipping the module, and if the module is normal, handing over the control right to the next normal module. The Adaptive DSD method does not need an upper computer, but needs a hub to connect each node, and is obviously not applicable when the topological structure of the system changes.
Autonomous Discrete Diagnostic Method (ADDM). The idea of the method is to divide the whole modular robot system into a plurality of small areas, wherein each area is dominated by a Token Node, and an Adaptive DSD method is used for fault detection. The method is suitable for the condition that the communication range of the node is limited and no upper computer exists.
An ant colony method is a well-known distributed method in the aspect of path planning. However, for the case of a very large number of nodes, most ants are still concentrated near the starting point and spread slowly to the surroundings, which makes the ant colony approach inefficient in dealing with diagnostic problems.
With respect to self-repair related methods, Weimin Shen proposed a self-organized digital hormone regulation model based on the theory of the reaction diffusion model. The Digital Hormone Model (Digital Hormone Model) can be generalized to a large scale multi-agent system, each agent being treated as a cell that can secrete hormones. Hormones can diffuse between cells and affect the behavior of other cells. Hormones can have many kinds and different functions. By giving a function of hormone secretion and diffusion, the whole system forms a regular configuration by allowing numerous wisdom to move under the guidance of digital hormones. The method has been applied to small chain-type modular robots. However, for the large-scale lattice format module robot repair task, the hormone regulation model needs to be improved and perfected according to the characteristics of the hormone regulation model so as to ensure the stability and high efficiency of the system.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a self-repairing method of a large-scale crystal format module robot system, which has high repairing efficiency and supports simultaneous repairing of multiple modules.
In order to achieve the above purposes, the invention provides a self-repairing method of a large-scale crystal format module robot system, which comprises three processes of fault diagnosis, hormone secretion and self-repairing action, wherein the three processes of fault diagnosis, hormone secretion and self-repairing action are mutually adjusted to jointly complete self-repairing of the module robot system; wherein:
the fault diagnosis comprises the steps of detecting the fault condition of the modular robot, estimating the fault scale and triggering a self-repairing event; the method comprises the following steps:
s11: the adjacent modules mutually detect whether a fault exists or no response exists through the data interface of the docking mechanism;
s12: when detecting the adjacent module fault or no response, sending a fault message to the next normal interface of the fault interface along the clockwise direction;
s13: when the module receives a fault message, adding the ID of the module into the message, and continuously sending the fault message to the next normal interface in the clockwise direction of the message receiving interface;
s14: after repeating the step S13 for several times, the module sending the fault message receives the message sent by itself, and determines the fault scale L according to the ID in the message, where the fault scale L is used as an important parameter for planning the repair path;
s15: triggering a self-repairing event;
the hormone is secreted, and an activating hormone and a suppressing hormone in a system network are secreted, wherein the activating hormone and the suppressing hormone are diffused and attenuated in the network and guide the proceeding of fault self-repairing; the method comprises the following steps:
s21: spare module secretes activiting hormone CA；
S22: normal modular secretion inhibiting hormone C near the cavityI；
S23: the hormone is diffused according to the principle from high concentration to low concentration;
s24: the hormone concentration in the module decays exponentially;
the self-repairing action is to select a target position for cavity movement according to the concentrations of activating hormone and inhibiting hormone around the cavity, and to perform separation, transition, unfolding and combination according to a gait table so as to complete the cavity movement; the method comprises the following steps:
s31: after the self-repairing event is triggered, entering a self-repairing action;
s32: according to the comprehensive evaluation of ginsengThe number P (N) determines the target position of hole movement, and the overall evaluation parameter P (N) is determined by the inhibitory hormone CIAnd activating hormone CADetermining;
s33: according to the target position, separating, transiting, unfolding and combining are carried out according to a gait table so as to complete cavity movement;
s34: after the hole moves to the target position, updating the topological information of the modules participating in the self-repairing action in the network;
s35: the self-repair event is complete.
Preferably, in the fault diagnosis process, after the module fault detection is completed, the system disconnects the fault module from the system, and a 'hole' is left below the position of the fault module; the process of repairing the system is actually the process of gradually moving the "holes" out of the system.
Preferably, the activating hormone C is in S21 of hormone secretionAIs the destination moved by the fault module robot, namely the equipment secretion of the standby module robot; the function of the system is to maintain the normal movement of the self-repairing system, guide the movement of the fault module robot, and secrete the fault module robot at a speed close to a constant without being influenced by a robot network;
the activating hormone CAAs shown in equation (1):
CA1＝CAo+hA(CAo,M) (1)
wherein: cAoIs the current concentration of hormone: cA1Is the hormone concentration for the next calculation cycle: h isAIs hormone CASecretion function of (2): m is the working capacity of the mechanism filling the cavity; the working capacity M of the repair body influences the activation hormone C in the form of a positive feedbackAThe current hormone concentration will influence the activating hormone C in the form of negative feedbackASecretion of (5).
Preferably, the hormone C is inhibited in S22 of hormone secretionIBy "cavities"The surrounding normal modules are secreted by robots, so that a plurality of modules are secreted simultaneously; the function of the device is to prevent other 'cavities' from approaching, so as to prevent the 'cavities' from concentrating to form larger cavities, and the mechanical strength of the system is reduced; inhibiting hormone CIIs an important parameter to ensure that multiple cavities move simultaneously without interfering with each other, thus inhibiting hormone CIThe secretion speed of the network is determined by the environment of the current network and the fault scale of fault diagnosis and judgment;
the inhibitory hormone CIAs shown in equation (2):
CI1＝CIo+hI(CIo,L) (2)
wherein: cIoIs the current concentration of the hormone, CI1Is the hormone concentration for the next calculation cycle: h isIIs hormone CIL is the size of the fault; fault scale L affects inhibitory hormone C in a positive feedback mannerIThe current hormone concentration will influence the inhibitory hormone C in the form of negative feedbackISecretion of (5).
Preferably, in S23 of hormone secretion:
after the module secretes the hormone, the hormone diffuses along the coupling between the modules; the whole robot network can be regarded as a set of nodes and paths between the nodes, hormone diffusion conditions between the two nodes are firstly examined, and a function F is set for two connected modules A and BX(A, B) the amount of diffusion of the hormone X from A to B is calculated for each cycle and is therefore known by definition:
FX(A,B)＝-FX(B,A) (3)
the greater the difference in hormone concentration between the two modules, the faster the diffusion rate, and if the diffusion rate is linear with the difference in concentration, then FX(A, B) can be represented as:
FX(A,B)＝EX(CX(A)-CX(B)) (4)
wherein: exIs the diffusion coefficient of hormone X, Cx(A) And Cx(B) Is the hormone X concentration at both nodes of A, B;
for a hormone concentration of a node, according to the diffusion function definition, the hormone concentration of the node in the next calculation period is the concentration of the previous calculation period minus the sum of the diffusion functions of the adjacent nodes:
CX1(A)＝CX0(A)-ΣF(A,N)N∈Aadj(5)
wherein, CX1(A) Is the hormone concentration value of the next cycle of node A, CX0(A) Is the hormone concentration value of node A in this cycleadjIs the set of nodes around a, and F (a, N) is the calculated amount of hormone diffusing from a to N during this cycle.
Preferably, in S24 of hormone secretion, the hormone concentration decays exponentially, the rate of decay being proportional to the concentration:
CX1＝k.CX0(6)
wherein, CX0Is the hormone concentration of this cycle, CX1The hormone concentration in the next cycle, k is the decay rate.
Preferably, in S32 of the self-repair action:
the module robot responds to the hormone concentration value to perform action; the repairing of the whole robot system is completed by moving a cavity, and the key of moving the cavity is to select a moving target position; activating hormone C which cavity should release to spare part storageAThe gradient direction of the concentration increase moves; while avoiding other cavities during locomotion, i.e. inhibiting hormone CIA large direction; therefore, the comprehensive evaluation parameter P (N) is used as the evaluation criterion for the hole movement:
P(N)＝kACA(N)+kICI(N) (7)
wherein,CA(N),CI(N) is the concentration of activating and inhibitory hormones at point N; kA,KIIs a ratio parameter of activating hormone and inhibiting hormone.
The module adjacent to the hole will compare P (N) of the module within reach and the hole will move to the module with the smallest P (N).
Preferably, in S33 of the self-repair action:
after the target position is determined, the module adjacent to the cavity transfers the cavity to the target position through element motion; different robot topological networks and different robot configurations have different corresponding element motions, and gait planning of the element motions needs to be carried out according to actual application backgrounds.
Compared with the prior art, the invention has the following beneficial effects:
1. each module is set as a decision unit, and corresponding behaviors are determined and executed through environment information and self parameters. For a large-scale crystal format module robot system, compared with a centralized control method, the method reduces the pressure of an upper computer, distributes the calculation amount of the upper computer into each module, and even does not need the upper computer; meanwhile, the repair efficiency is improved in a distributed control mode.
2. The two hormone models adopted by the invention can effectively plan the moving path of the cavity, can realize the parallel repair of a plurality of modules, and can not interfere with each other in the repair process, thereby improving the repair efficiency.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a mechanical schematic and mechanical schematic of a waffle-module robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a crystal format module robot according to an embodiment of the present invention;
fig. 3 is a search path of a fault detection packet according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating the motion of a V-shaped element according to an embodiment of the present invention; wherein: (a) to create a void, (b) to begin reconstruction without a module, (c) to reconstruct into a pentagonal configuration, (d) to re-deploy a pentagon, (e) to complete deployment of the pentagon (hole shifting);
FIG. 5 is a flow chart of a self-healing method according to an embodiment of the present invention;
FIG. 6 is a self-repairing effect diagram of a single-fault module robot according to an embodiment of the present invention;
fig. 7 is a diagram illustrating a self-repairing effect of the multi-fault module robot according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the mechanical structure and mechanism diagram of a lattice-type modular robot according to the present embodiment is shown, and the modular robot is composed of three parts: the robot comprises a central frame in the center of the robot, three connecting arms with two degrees of freedom and a butt joint mechanism positioned at the tail ends of the connecting arms. The central frame provides a fixed position for the connecting arms, while the control circuitry of each module can be mounted inside. The three connecting arms are respectively arranged on three side surfaces of the regular triangle central frame body, and each connecting arm consists of two driving joints and a butt joint mechanism. The single arm has a telescopic freedom degree, a rotary freedom degree and a butt joint freedom degree, and the modules are connected, separated and moved through the connecting arm.
In the robot system, all docking mechanisms have the same structure and are not limited by male and female, and any two docking mechanisms in a network can be docked. The front end of the docking mechanism is provided with four contacts, wherein two contacts are power interfaces and are used for exchanging energy in a network, and the other two contacts are data interfaces and are used for transmitting information and diagnosing mutual faults.
As shown in fig. 2, which is a topological structure diagram of the lattice-form modular robot in this embodiment, three connecting arms of the lattice-form modular robot form an angle of 120 °, and six modular robots can form a regular hexagonal ring. A large number of regular hexagonal rings are connected with each other to form a honeycomb hexagonal grid structure. In this embodiment, the application scenario of the lattice-type modular robot is a spatial solar power station, and the modular robot carries a solar cell panel and constructs a hexagonal grid structure, so that a large-area solar cell panel can be formed.
According to the background above, the module fault detection steps are as follows:
1. the adjacent modules mutually detect whether a fault exists or no response exists through the data interface of the docking mechanism.
2. When detecting that the adjacent module has a fault or does not respond, sending a fault message to the next normal interface of the fault interface along the clockwise direction; the format of the fault message is as follows:
| TYPE | MSGUUID | LEN | SENDER | TRACE1 | TRACE2 | ... | TRACEn | CRC16 |
● TYPE: 8bits, message type, fixed value 0x 03;
● MSGUUID: 64bits, the globally unique ID of the message, generated when the message is created;
● LEN: 8bits, length of message, unit byte;
● SENDER: 16bits, ID of the message sender;
● TRACE1 … TRACEn: each 16bits, the message passes through the list of the ID of the module;
● CRC 16: 16bits, CRC check code.
3. When the module receives the fault message, the ID of the module is added into the message, and the fault message is continuously sent to the next normal interface in the clockwise direction of the message receiving interface.
4. After repeating the step 3 for several times, the module sending the fault message receives the message sent by itself, as shown in fig. 3. When the module sending the fault message receives the message sent by the module again, the fault scale L can be judged according to the ID in the message, and the fault scale L is used as an important parameter for planning the repair path.
5. When the module sending the search message does not receive feedback after a period of time, the fault module is suspected to be too large, and then a search overtime message is sent to the upper computer; meanwhile, the length of the search message received by the intermediate module reaches LmIf the fault scale is too large, generating a search overflow message and sending the search overflow message to an upper computer; the host computer can judge the scale of the fault after receiving the information summarized by the modules, and intervenes in automatic repair if necessary.
When module failure detection is complete, the system disconnects the failed module from the system, leaving a "void" under the location of the failed module. In order to repair the system, the spare modules located at the periphery of the system need to be transferred to the 'holes' through mutual cooperation between the modules to complete repair, that is, the process of repairing the system is actually a process of gradually moving the 'holes' out of the system.
The process of 'cavity' movement is composed of element movement, and one element movement comprises four processes of separation, transition configuration formation, unfolding and reconnection. The motion can be classified into II type, III type, IV type and V type according to the number of modules participating in the meta motion. The process of V-cell motion is shown in fig. 4, where five modules participate in hole movement. When the target position of the cavity movement is determined, the gait rule of the meta-motion is uniquely determined. According to the invention, only the target position of each step is required to be used as input, and the controller can control the action of the robot joint of the module according to the input and the step table, so that one-time meta-motion can be completed.
The following describes the steps of path planning, i.e. the method of obtaining the target position of each step:
1. spare modular robot secretes activition hormone CAAs shown in equation (1):
CA1＝CAo+hA(CAo,M) (1)
activating hormone CAThe function of the self-repairing system is to maintain the normal movement of the self-repairing system and guide the movement of the fault module robot. It is reflected in thatIts secretion is not affected by robot network basically, and is secreted at a speed close to constant. The greater the working capacity of the mechanism filling the cavity, CAThe faster the secretion rate; the greater the concentration of the current hormone, CAThe slower the secretion rate.
Normal modular robot secretion inhibiting hormone C near the "holeIAs shown in equation (2):
CI1＝CIo+hI(CIo,L) (2)
inhibiting hormone CISecreted by normal modular robots around the "cavity", and thus secreted simultaneously by multiple modules. Its function is to prevent other "cavities" from approaching, so as to prevent the "cavities" from concentrating and forming larger cavities, which results in the reduction of the mechanical strength of the system. Inhibitory hormones are important parameters to ensure that multiple cavities move simultaneously without interfering with each other. Thus, hormone C is inhibitedIDepends on the environment of the current network and the size of the fault as judged by previous fault diagnosis. When the damage is more serious, CIThe higher the concentration of the hormone; while the greater the current concentration of hormone, CIThe slower the secretion rate.
3. Hormone diffusion delivery
After the module secretes the hormone, the hormone diffuses along the module-to-module link. The entire robot network can be viewed as a collection of nodes and paths between the nodes. The hormone diffusion between the two nodes was first examined. For two modules A and B connected to each other, let function FX(A, B) for each calculation cycle the amount of diffusion of hormone X from A to B is known by definition:
FX(A,B)＝-FX(B,A) (3)
the greater the difference in hormone concentration between the two modules, the faster the diffusion rate; if the diffusion rate is linear with the concentration difference, FX(A, B) can be represented as:
FX(A,B)＝EX(CX(A)-CX(B)) (4)
wherein: exIs the diffusion coefficient of hormone X, Cx(A) And Cx(B) Is the hormone X concentration at the A, B two nodes.
For a hormone concentration of a node, according to the diffusion function definition, the hormone concentration of the node in the next calculation period is the concentration of the previous calculation period minus the sum of the diffusion functions of the adjacent nodes:
CX1(A)＝CX0(A)-ΣF(A,N)N∈Aadj(5)
4. modular robot self-repair action activation
The modular robot acts in response to the hormone concentration value. The repair of the whole robot system is completed by moving the cavity, and the key of moving the cavity is to select a moving target position. Activating hormone C which cavity should release to spare part storageAThe gradient direction of the concentration increase moves; while avoiding other cavities during locomotion, i.e. inhibiting hormone CIThe large direction. Therefore, a comprehensive evaluation parameter P (N) is used as the evaluation criterion for hole movement:
P(N)＝kACA(N)+kICI(N) (7)
wherein, CA(N),CI(N) is the concentration of activating and inhibitory hormones at point N; kA,KIIs a ratio parameter of activating hormone and inhibiting hormone. The module adjacent to the hole will compare P (N) of the module within reach and the hole will move to the module with the smallest P (N). According to the principle, the concentration values of the activating hormone and the inhibiting hormone are independent, and the module with higher concentration of the activating hormone passes through KAWeighting should be such that the module has a lower P (N) and a higher concentration of inhibitory hormone through KIThe weighting should be such that P (N) of the module is large.
Thus, KA<0，KI>0. Can order KA＝-0.5，KIAs an initial value, 0.5. According to the simulation experiment result and the expected effect, the K is correctedA，KIAdjustment is carried out, and K is guaranteed during adjustmentA<0，KI>0, and | KA|+|KI|＝1。
The specific decision process of the hole moving target position is as follows:
and when the system monitors that a fault module exists, triggering a hole moving event. After the event is triggered, the module triggering the hole movement event sends out a target position search message, which is similar to the fault diagnosis search message in form. But contains more information including: ID of the message sending module, row and column coordinates of the damaged module and NodeInfo list passing through the module. NodeInfo is a composite data type that encapsulates a module-related information. The evaluation method comprises the ID of the module, the row and column coordinate values of the module and a comprehensive evaluation parameter P (N) for determining the moving direction. In this list, the position of the block with the smallest P value is the position to which the hole is to be moved. Since the network structure is symmetrical, it is often the case that the P values of a plurality of modules are the same as the minimum value. In this example, it is specified that, when the P values are the same, the module having the smallest module ID value is used as the position where the hole moves. In this case, a module is selected as a position where the cavity moves. Usually, the hole movement event is started by three modules at the same time, and the hole movement positions finally determined under the above rule are the same.
5. Performing a hole moving operation
When the target position is determined, the task of the cavity movement event module is triggered to be completed, and at the moment, the task is completed, the task is sent to the target position module by the target position module, and the leading right is handed over to the target position module. At this time, the master module selects the type of meta-motion according to the relative position of the hole and the available surrounding modules, and the position of the reference module can be determined according to this type. The reference module is always connected with the system network in the hole moving process. After the position of the reference module is determined, the master module transfers the control right to the reference module, and the reference module controls the separation, transition, expansion and combination of the modules according to the gait table.
6. Hormone concentration attenuation
Just as in an organism, a hormone does not exist permanently in the body, it is gradually decomposed or eliminated from the body over time. The hormones produced in the previous step need to decay over time. The concentration of the hormone generally decays exponentially, with the rate of decay being proportional to the concentration:
CX1＝k.CX0(6)
wherein, CX0Is the hormone concentration of this cycle, CX1The hormone concentration in the next cycle, k is the decay rate. Obviously, the attenuation ratio has a value range of: 0<k<1. The initial value can be set to 0.5, and k is adjusted according to the simulation experiment result and the expected effect.
As shown in fig. 5, the present embodiment provides a self-repairing method for a large-scale lattice-type modular robot system, which includes three processes of fault diagnosis, hormone secretion and self-repairing action, where the three processes are adjusted to jointly complete self-repairing of the modular robot system;
the specific process of hormone secretion is as follows:
1. the standby module secretes activating hormones, and the normal module near the cavity secretes inhibitory hormones;
2. the hormone is diffused according to the principle from high concentration to low concentration;
3. the hormone concentration in the module decays exponentially.
The fault diagnosis process comprises the following specific steps:
1. detecting the operation condition of the adjacent module;
2. judging whether a fault exists or no response exists, if not, returning to the step 1; if yes, continuing the next step;
3. judging the fault scale L by using a method for sending fault messages; at the same time, the failure scale L will promote the secretion of inhibitory hormones;
4. triggering a self-repair event.
The self-repairing action specifically comprises the following steps:
1. after the self-repairing event is triggered, entering a self-repairing action;
2. determining the target position of hole movement based on a comprehensive evaluation parameter P consisting of inhibitory hormone CIAnd activating hormone determinant CA；
3. According to the target position, separating, transiting, unfolding and combining are carried out according to a gait table so as to complete cavity movement;
4. after the hole moves to the target position, updating the topology information of the modules participating in the self-repairing action in the network;
5. the self-repair event is complete.
In conclusion, the invention adopts the digital hormone model to realize the self-repairing of the large-scale crystal format module robot system, and the digital hormone model basically comprises the following steps:
a. each module selecting a behavior according to the concentration value of the hormone;
b. each module performing a selected action;
c. updating the concentration value of the hormone in the whole network;
d. and returning to the step a.
Hole movement can be viewed as "behavior"; the direction of action is selected according to the concentration of activating and inhibiting hormones.
The MATLAB repair simulation of a single faulty module robot is shown in FIG. 6, the MATLAB repair simulation of three faulty module robots is shown in FIG. 7, the black point in the figure is the position of the faulty module robot, and the position of the spare module robot is set at the position of the upper left corner in the figure. In fig. 6, the direction of movement of the single faulty modular robot is towards the spare module; in fig. 7, the moving direction of the multiple fault module robots is wholly towards the standby module, and other fault modules are avoided in the moving process, so that the multiple modules are repaired simultaneously.
Each module is set as a decision unit, and corresponding behaviors are determined and executed through environment information and self parameters. For a large-scale crystal format module robot system, compared with a centralized control method, the method reduces the pressure of an upper computer, distributes the calculation amount of the upper computer into each module, and even does not need the upper computer; meanwhile, the repair efficiency is improved in a distributed control mode. The two hormone models adopted by the invention can effectively plan the moving path of the cavity, can realize the parallel repair of a plurality of modules, and can not interfere with each other in the repair process, thereby improving the repair efficiency.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (7)
1. A self-repairing method of a large-scale crystal form modular robot system is characterized in that the method adopts three processes of fault diagnosis, hormone secretion and self-repairing action to be mutually adjusted to jointly complete self-repairing of the modular robot system; wherein:
the fault diagnosis comprises the steps of detecting the fault condition of the modular robot, estimating the fault scale and triggering a self-repairing event; the method comprises the following steps:
s11: the adjacent modules mutually detect whether a fault exists or no response exists through the data interface of the docking mechanism;
s12: when detecting the adjacent module fault or no response, sending a fault message to the next normal interface of the fault interface along the clockwise direction;
s13: when the module receives a fault message, adding the ID of the module into the message, and continuously sending the fault message to the next normal interface in the clockwise direction of the message receiving interface;
s14: after repeating the step S13 for several times, the module sending the fault message receives the message sent by itself, and determines the fault scale L according to the ID in the message, where the fault scale L is used as an important parameter for planning the repair path;
s15: triggering a self-repairing event;
the hormone is secreted, and an activating hormone and a suppressing hormone in a system network are secreted, wherein the activating hormone and the suppressing hormone are diffused and attenuated in the network and guide the proceeding of fault self-repairing; the method comprises the following steps:
s21: spare module secretes activiting hormone CA；
S22: normal modular secretion inhibiting hormone C near the cavityI；
S23: the hormone is diffused according to the principle from high concentration to low concentration;
s24: the hormone concentration in the module decays exponentially;
step S21 of hormone secretion, the activating hormone CAThe destination of the movement of the fault module robot is the equipment secretion for storing the standby module robot; activating hormone CAThe function is to maintain the normal movement of the self-repairing system, guide the movement of the fault module robot, and secrete the fault module robot at a speed close to a constant without being influenced by a robot network;
the activating hormone CAAs shown in equation (1):
CA1＝CAo+hA(CAom) (1) wherein: cAoIs the current concentration of hormone: cA1Is the hormone concentration for the next calculation cycle: h isAIs hormone CASecretion function of (2): m is the working capacity of the mechanism filling the cavity; the working capacity M of the repair body influences the activation hormone C in the form of a positive feedbackAThe current hormone concentration will influence the activating hormone C in the form of negative feedbackASecretion of (4);
the self-repairing action is to select a target position for cavity movement according to the concentrations of activating hormone and inhibiting hormone around the cavity, and to perform separation, transition, unfolding and combination according to a gait table so as to complete the cavity movement; the method comprises the following steps:
s31: after the self-repairing event is triggered, entering a self-repairing action;
s32: determining the target position of hole movement based on the comprehensive evaluation parameter P (N) composed of inhibitory hormone CIAnd activating hormone CADetermining;
s33: according to the target position, separating, transiting, unfolding and combining are carried out according to a gait table so as to complete cavity movement;
s34: after the hole moves to the target position, updating the topological information of the modules participating in the self-repairing action in the network;
s35: the self-repair event is complete.
2. The self-repairing method of the large-scale waffle-format-module robot system as claimed in claim 1, wherein in the fault diagnosis, when module fault detection is completed, the system disconnects the faulty module from the system, leaving a "hole" under the location of the faulty module; the process of repairing the system is actually the process of gradually moving the "holes" out of the system.
3. The method of claim 1, wherein the step of inhibiting hormone secretion S22 is implemented by inhibiting hormone CISecreted by normal modular robots around the "cavity", being secreted by multiple modules simultaneously; inhibiting hormone CIThe function is to prevent other 'cavities' from approaching and inhibit hormone CIThe secretion speed of the network is determined by the environment of the current network and the fault scale of fault diagnosis and judgment;
the inhibitory hormone CISuch as formula(2) Shown in the figure:
CI1＝CIo+hI(CIo,L) (2)
wherein: cIoIs the current concentration of the hormone, CI1Is the hormone concentration for the next calculation cycle: h isIIs hormone CIL is the size of the fault; fault scale L affects inhibitory hormone C in a positive feedback mannerIThe current hormone concentration will influence the inhibitory hormone C in the form of negative feedbackISecretion of (5).
4. The self-repairing method of the large-scale lattice-form modular robot system of claim 1, wherein in the step S23 of hormone secretion:
after the module secretes the hormone, the hormone diffuses along the coupling between the modules; the whole robot network can be regarded as a set of nodes and paths between the nodes, hormone diffusion conditions between the two nodes are firstly examined, and a function F is set for two connected modules A and BX(A, B) for each calculation cycle the amount of diffusion of hormone X from A to B is known by definition:
FX(A,B)＝-FX(B,A) (3)
the greater the difference in hormone concentration between the two modules, the faster the diffusion rate, and if the diffusion rate is linear with the difference in concentration, then FX(A, B) is represented by:
FX(A,B)＝EX(CX(A)-CX(B)) (4)
wherein: exIs the diffusion coefficient of hormone X, Cx(A) And Cx(B) Is the hormone X concentration at both nodes of A, B;
for a hormone concentration of a node, according to the diffusion function definition, the hormone concentration of the node in the next calculation period is the concentration of the previous calculation period minus the sum of the diffusion functions of the adjacent nodes:
CX1(A)＝CX0(A)-∑F(A,N)N∈Aadj(5)
wherein, CX1(A) Is the hormone concentration of the next cycle of node AValue, CX0(A) Is the hormone concentration value of node A in this cycleadjIs the set of nodes around a, and F (a, N) is the calculated amount of hormone diffusing from a to N during this cycle.
5. The self-repairing method of the large-scale lattice-form modular robot system of claim 1, wherein in the hormone secretion step S24, the hormone concentration decays exponentially, and the decay rate and concentration are proportional to each other:
CX1＝k.CX0(6)
wherein, CX0Is the hormone concentration of this cycle, CX1The hormone concentration in the next cycle, k is the decay rate.
6. The self-repairing method of the large-scale lattice-form modular robot system of claim 1, wherein the self-repairing action is performed in step S32:
the module robot responds to the hormone concentration value to perform action; the repairing of the whole robot system is completed by moving a cavity, and the key of moving the cavity is to select a moving target position; activating hormone C which cavity should release to spare part storageAThe gradient direction of the concentration increase moves; while avoiding other cavities during locomotion, i.e. inhibiting hormone CIA large direction; therefore, the comprehensive evaluation parameter P (N) is used as the evaluation criterion for the hole movement:
P(N)＝kACA(N)+kICI(N) (7)
wherein, CA(N),CI(N) is the concentration of activating and inhibitory hormones at point N; kA,KIIs a ratio parameter of an activating hormone and a suppressing hormone, an activating hormone CA and a suppressing hormone CI;
the module adjacent to the hole will compare P (N) of the module within reach and the hole will move to the module with the smallest P (N).
7. The self-repairing method of the large-scale lattice-form modular robot system of claim 1, wherein the self-repairing action is performed in step S33:
after the target position is determined, the module adjacent to the cavity transfers the cavity to the target position through element motion; different robot topological networks and different robot configurations have different corresponding element motions, and gait planning of the element motions needs to be carried out according to actual application backgrounds.
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