CN106329665A - robot group cooperative work method - Google Patents
robot group cooperative work method Download PDFInfo
- Publication number
- CN106329665A CN106329665A CN201610932682.9A CN201610932682A CN106329665A CN 106329665 A CN106329665 A CN 106329665A CN 201610932682 A CN201610932682 A CN 201610932682A CN 106329665 A CN106329665 A CN 106329665A
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- robot
- electric energy
- finding out
- power circuit
- control module
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 229910052751 metal Inorganic materials 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 11
- 239000000203 mixture Substances 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/10—Control circuit supply, e.g. means for supplying power to the control circuit
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a machine crowd cooperative work method, which comprises the following steps: distributing a plurality of detection robots in an area to respectively and independently detect a target; and an electric energy supplying robot is in the area and waits for supplying power to the detection robot; the detection robot can rapidly collect a plurality of detection robots to go to the destination under the unified coordination of the server, and the electric energy required by the robot queue to travel is provided by the electric energy supply robot, so that the electric energy loss of the detection robot in the process of proceeding is avoided, and the endurance time of the detection robot is prolonged.
Description
Technical field
The present invention relates to a kind of multiple robots collaboration working method.
Background technology
When multiple robots collaborative work, electric energy supply often affects the work of this robotic team, has a strong impact on
Continuous firing, is the battery capacity of raising single robot at present for way, but this way improves the heavy burden of robot,
And then improve load when robot advances.
Accordingly, it would be desirable to design a kind of multiple robots collaboration working method that can effectively robot be carried out electric energy supply it is
The technical barrier of this area.
Summary of the invention
It is an object of the invention to provide a kind of multiple robots collaboration working method, to improve the flying power work of multiple robots
Make.
In order to solve above-mentioned technical problem, the invention provides a kind of multiple robots collaboration working method, including:
Some robots of finding out are distributed in a region, to find out the most alone target；And one electric energy supply machine
People is with in this region, and waits and powering for finding out robot.
Further, when one finds out after robot finds out target, target location is sent to server, and is notified by server
This find out near robot electric energy supply robot and find out accordingly robot line up to target location traveling.
Further, described in find out the front portion of robot and be provided with mechanical hand, its back is provided with bare terminal end, and finds out robot
Inside it is provided with charge control module；Power circuit contact, and two power circuit contacts it are provided with in wherein said mechanical hand, bare terminal end
All connect charge control module；Described charge control module is suitable to be realized finding out in robot by corresponding power circuit contact
Lithium battery is charged；Find out robot described in and and also include video acquisition module, metal detection module, infra-red detection mould
Block, to realize video data acquiring, metal signal detection and life signal detection.
Further, described electric energy supply robot is suitable to convert the solar into electric energy and stores, and the most described electric energy is mended
Include to robot: charge and discharge control module, the photovoltaic cell being connected with this charge and discharge control module, and be positioned at this electric energy benefit
To the power circuit contact in robot mechanical arm；Described electric energy feeds robot and finds out robot back by manipulator clamping
Bare terminal end, find out the power circuit of robot to connect, be powered finding out robot.
Further, described server is suitable to determine with target location and collect according to finding out the current position of robot accordingly
Point, i.e. server notice respectively find out robot, electric energy supply robot marches to this convergent point and carries out converging composition traveling queue,
And electric energy feeds robot and is positioned at queue finally, and provide electric energy for respectively finding out robot, to go to objective.
Further, described in find out robot queue, respectively find out robot and join end to end, rear one finds out robot passes through machine
Tool hands clamps the previous bare terminal end finding out robot；After i.e., one finds out the power circuit contact of the mechanical hand of robot and previous spy
Know that the power circuit contact of the bare terminal end of robot is connected；The mechanical hand of described electric energy supply robot is clamped and is positioned at queue
Rear one bare terminal end finding out robot, and then build the charge circuit finding out robot queue.
Further, the connection of the power circuit contact in described mechanical hand charge and discharge control module；Described charge and discharge control mould
The electric energy of accumulator is exported to finding out robot in queue by block by the mechanical hand of this electric energy supply robot.
The invention has the beneficial effects as follows, the present invention finds out robot and quickly can assemble under being uniformly coordinated of server
Multiple robots of finding out go to destination, and by required electric energy during electric energy supply robot offer robot queue traveling, keep away
Exempt from the electric energy loss finding out robot during carrying out, improve the cruising time finding out robot.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 (a), Fig. 1 (b), Fig. 1 (c) are that the multiple robots of the present invention is found out when collaborative work, found target and line up
The schematic diagram advanced；Wherein, grid represents and finds out robot, circular represents that electric energy supply robot, A are Rendezvous Point；
Fig. 2 is the multiple robots of the present invention theory diagram when charging.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only with
The basic structure of the illustration explanation present invention, therefore it only shows the composition relevant with the present invention.
As shown in Fig. 1 (a), Fig. 1 (b), Fig. 1 (c) and Fig. 2, a kind of multiple robots that the present invention provides includes: some find out
Robot, for providing the electric energy supply robot of electric energy, and with electric energy supply robot, respectively find out robot wireless telecommunications
And for coordinating the server of each robot work.
Wherein wireless communication mode is such as but not limited to using WiFi, 4G communication modes, it would however also be possible to employ in prior art
Wireless communication mode known to any one.
On the basis of machine crowd, machine crowd's collaboration working method, including: find out robot distribution by some
In a region, to find out the most alone target；And one electric energy supply robot with in this region, and wait being the machine of finding out
Device people power.
Further, when one finds out after robot finds out target, target location is sent to server, and is notified by server
This find out near robot electric energy supply robot and find out accordingly robot line up to target location traveling.Wherein, target
Position can be obtained by the GPS module finding out robot interior, concrete, GPS module and the processor found out in robot
Module is connected.
Concrete, described in find out the front portion of robot and be provided with mechanical hand, its back is provided with bare terminal end, and finds out robot
Inside it is provided with charge control module；Power circuit contact, and two power circuit contacts it are provided with in wherein said mechanical hand, bare terminal end
All connect charge control module；Described charge control module is suitable to be realized finding out in robot by corresponding power circuit contact
Lithium battery is charged；Find out robot described in and and also include video acquisition module, metal detection module, infra-red detection mould
Block, to realize video data acquiring, metal signal detection and life signal detection.
Described video acquisition module includes photographic head, and this photographic head is suitable to the video data of collection is passed through processor module
And the wireless communication module being connected with this processor module sends to server, or automatically can be identified by image,
Image recognition is suitable to be realized by any one known technology.Metal detection module is such as but not limited to including metal detection line
Circle, the signal being connected with this metal detections coils conversion output circuit, detection data are sent extremely by this signal conversion output circuit
Processor module is to judge whether metal object to be detected.Described infra-red detection module is human body infrared such as but not limited to using
Sensor, is connected with described processor module, to detect life signal.
Described processor module is such as but not limited to using ATMEL AT91SAM9261.
Described electric energy supply robot is suitable to convert the solar into electric energy and stores, the most described electric energy supply robot
Including charge and discharge control module, the photovoltaic cell being connected with this charge and discharge control module, and it is positioned at this electric energy supply robot
Power circuit contact in mechanical hand；Described electric energy is fed robot and is found out the clamping at robot back by manipulator clamping
End, to connect the power circuit finding out robot, is powered finding out robot.
Described charge control module, charge and discharge control module such as include but not limited to use LT1513, FS1610, and
Control chip TPS2419.
Respectively find out robot to be suitable to scan for activity in respective zone of action, when wherein one finding out robot and find out mesh
(enter realization find out target by video acquisition module, metal detection module, infra-red detection module) after mark, target location is sent out
Deliver to server, and notified respectively to find out robot and electric energy supply robot by server；And described server is suitable to basis
Respectively finding out the current position of robot and determine a Rendezvous Point A with target location, i.e. server notice respectively finds out robot, electric energy is mended
March to this convergent point to robot and carry out converging composition traveling queue, and electric energy feeds robot and is positioned at queue finally, and be
Respectively find out robot and provide electric energy, to go to objective.Concrete in Fig. 1 (a), enumerate three and find out robot, respectively
Representing with 1,2 and 3, when finding out after robot 1 finds out target, server notifies to find out robot 2 near this target location
With find out robot 3, and electric energy supply robot carry out to the convergent point A determined, as shown in figure Fig. 1 (b), at Fig. 1 (c)
In, set up parade.
Described finding out robot queue, respectively find out robot and join end to end, rear one finds out robot is pressed from both sides by mechanical hand
Hold the previous bare terminal end finding out robot；After i.e., machine is found out with previous in a power circuit contact finding out the mechanical hand of robot
The power circuit contact of the bare terminal end of people is connected；Described electric energy supply robot mechanical hand clamp be positioned at queue last visit
Know the bare terminal end of robot, and then build the charge circuit finding out robot queue.
Power circuit contact connection charge and discharge control module in described mechanical hand；Described charge and discharge control module is by being somebody's turn to do
The electric energy of accumulator is exported to finding out robot in queue by the mechanical hand of electric energy supply robot.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete
Entirely can carry out various change and amendment in the range of without departing from this invention technological thought.The technology of this invention
The content that property scope is not limited in description, it is necessary to determine its technical scope according to right.
Claims (7)
1. a multiple robots collaboration working method, it is characterised in that
Some robots of finding out are distributed in a region, to find out the most alone target；And
One electric energy supply robot is with in this region, and waits and powering for finding out robot.
Multiple robots collaboration working method the most according to claim 1, it is characterised in that
When one finds out after robot finds out target, target location is sent to server, and is notified that this finds out machine by server
Near people electric energy supply robot and find out accordingly robot line up to target location traveling.
Multiple robots collaboration working method the most according to claim 2, it is characterised in that
The described front portion finding out robot is provided with mechanical hand, and its back is provided with bare terminal end, and is provided with charging in finding out robot
Control module；Wherein
It is provided with power circuit contact in described mechanical hand, bare terminal end, and two power circuit contacts all connect charge control module；
Described charge control module is suitable to realize being charged lithium battery in finding out robot by corresponding power circuit contact；
And
Described robot of finding out also includes video acquisition module, metal detection module, infra-red detection module, to realize video counts
According to collection, metal signal detection and life signal detection.
Multiple robots collaboration working method the most according to claim 3, it is characterised in that
Described electric energy supply robot is suitable to convert the solar into electric energy and stores, i.e.
Described electric energy feeds robot and includes: charge and discharge control module, the photovoltaic cell being connected with this charge and discharge control module, with
And
It is positioned at the power circuit contact of this electric energy supply robot mechanical arm；
Described electric energy is fed robot and is found out the bare terminal end at robot back by manipulator clamping, finds out robot to connect
Power circuit, is powered finding out robot.
Multiple robots collaboration working method the most according to claim 4, it is characterised in that
Described server is suitable to determine a Rendezvous Point, i.e. with target location according to finding out the current position of robot accordingly
Server notice respectively finds out robot, electric energy supply robot marches to this convergent point and carries out converging composition traveling queue,
And electric energy feeds robot and is positioned at queue finally, and provide electric energy for respectively finding out robot, to go to objective.
Multiple robots collaboration working method the most according to claim 5, it is characterised in that
Described finding out robot queue, respectively find out robot and join end to end, rear one finds out robot by before manipulator clamping
One bare terminal end finding out robot；I.e.
The power circuit contact of rear one mechanical hand finding out robot is tactile with the power circuit of the previous bare terminal end finding out robot
Point is connected；
The mechanical hand of described electric energy supply robot is clamped and is positioned at queue last finds out the bare terminal end of robot, and then builds and visit
Know the charge circuit of robot queue.
Multiple robots collaboration working method the most according to claim 6, it is characterised in that the energising in described mechanical hand is returned
Contact, road connection charge and discharge control module；
The electric energy of accumulator is exported in queue by the mechanical hand that described charge and discharge control module feeds robot by this electric energy
Find out robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610932682.9A CN106329665B (en) | 2016-10-31 | 2016-10-31 | robot group cooperative work method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610932682.9A CN106329665B (en) | 2016-10-31 | 2016-10-31 | robot group cooperative work method |
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| Publication Number | Publication Date |
|---|---|
| CN106329665A true CN106329665A (en) | 2017-01-11 |
| CN106329665B CN106329665B (en) | 2018-11-23 |
Family
ID=57818730
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610932682.9A Active CN106329665B (en) | 2016-10-31 | 2016-10-31 | robot group cooperative work method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110998620A (en) * | 2017-06-21 | 2020-04-10 | 轨迹机器人公司 | Robot capable of finishing order operation in queue |
| CN111331606A (en) * | 2020-03-27 | 2020-06-26 | 河北师范大学 | Mobile splicing control method and system for mobile multiple robots |
| CN113098089A (en) * | 2021-03-31 | 2021-07-09 | 北京云迹科技有限公司 | Robot-cooperated wireless charging method and system and robot |
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| Publication number | Publication date |
|---|---|
| CN106329665B (en) | 2018-11-23 |
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