CN107247460B - Cluster control method and system for machine bees - Google Patents
Cluster control method and system for machine bees Download PDFInfo
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Abstract
The invention relates to a cluster control method and a cluster control system for machine bees, wherein the machine bees can sense the external environment through a sensor module of the machine bees, a positioning system positions the positions of the machine bees so as to facilitate group cooperation, an executing mechanism executes the current task, the machine bees can communicate with each other through a communication module, and a cooperative controller in the machine bees forms a distributed computer network through communication and networking. The communication module of the cluster control system is used for communication between users and the machine bee clusters, including command issuing and task allocation, and the synchronization module is used for unifying the time standard of the machine bee clusters. The distributed cooperative bee cluster has the obvious advantages that the intelligence quotient of a single machine bee is not high, the cost is low, the control is simple, but the whole machine bee cluster can form a self-organizing network to perform distributed cooperative calculation, the requirement of a difficult task which cannot be met by the single machine bee is met, manual intervention is not needed in the task execution process, the dynamic self-healing capability is realized, and the reliability is high.
Description
Technical Field
The invention belongs to the field of intelligent robot application and the field of cluster control, and particularly relates to a cluster control method and a cluster control system for bees of a robot.
Background
With the rapid development of computer and mechanical automation technology, people are prompted to continuously develop new intelligent robots to help people to do complicated, fine, dangerous and expensive engineering work so as to relieve our pressure and protect personal safety. The appearance of some new robots brings many convenience to our lives, such as lunar detectors, explosive disposal robots, service-type (restaurant service type, welcome type) robots, and unmanned planes.
However, at present, robots mostly stay in a single individual to complete a task, and the defects are obvious.
First, individual capabilities of robots tend to be limited, often encountering tasks that cannot be accomplished by a single individual. Especially in complex scenes such as search, rescue, battlefield and the like, a single individual is obviously unable to be qualified, even if a plurality of single robots are used, the single robots are difficult to be qualified, and even the normal order of people is easily hindered. The intelligence quotient of a single robot is limited, a control chip of the robot can only complete a calculation task with preset difficulty, and occasions exceeding the intelligence quotient of the single robot can occur in the process of executing the task.
Secondly, task allocation in the field of robots is difficult at present, especially for large tasks and multiple tasks. When the task is to draw a map and measure a certain complex building, it is very complex to issue specific instructions to the robot one by one. When a certain complex task is completed, mutual cooperation is not involved, and the continuous assignment of the task to the robot by manpower and the manual cooperation lead to low task completion efficiency. During the process of executing the task, various unexpected situations can occur, such as the robot loses contact with the controller, and if the robot loses manual intervention, the robot often causes the task to fail under the condition of insufficient intelligence.
Finally, robots also have a certain probability of failure, and in the case of a single robot operation, failure of a single individual often means failure of the entire task. In a complex multi-robot task, each robot has a specific task, and has no alternative or none, once a link (robot) has a problem, the whole task is affected, such as a manipulator on a production line.
The cluster control that has emerged in recent years is an effective solution. Whereas clustering behavior is a collective behavior of living beings, the most typical example is the appearance of a cluster of entities clustered together or acting in a particular direction. Insect, bird, fish, aquatic animal, human and bacteria in the kingdom of life all present colonizing behavior. The better scheme is to provide an integral task for the robot cluster, and the task is completed by the self-decomposition, the cooperation, the subsection operation and the seamless mode of the cluster. However, no method and system for controlling the cluster of machine bees exist in the current market.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme: a cluster control method and system for machine bees comprises a machine bee system and a cluster control system; the machine bee system comprises a cooperative controller, a sensor module, a positioning system, an actuating mechanism and a communication module; the cluster control system comprises a controller, a communication module and a synchronization module;
when the machine bees are required to execute the same task, the controller of the cluster control system is used for calculating and generating task information and resource requirements required by the machine bees collectively; the synchronization module is used for generating synchronization information and unifying the time standard of each machine bee individual in the whole colony; the communication module sends task information and resource requirements generated by a controller of the cluster control system and synchronization information generated by the synchronization module to each machine bee; the communication module of the machine bee can receive communication signals of the trunking control system and communication signals of other machine bee systems; after receiving the communication signal, the system can respond according to the current task and resource condition of the system; a sensor module of the machine bee system can sense the real-time state of the outside; the positioning system detects the real-time position of the bee and the surrounding environment information; the executing mechanism is used for completing the predefined actions of various machine bees, including taking off, flying, landing, accelerating, decelerating, honey collecting and the like; the collected data are transmitted to other machine bees in the same team through a communication module of the machine bee system so as to share information and cooperate with a bee cluster; the cooperative controller performs distributed calculation on the cooperative controllers capable of being used with other machine bees, and the distributed cluster cooperative controllers are formed through the communication module, so that analysis and cooperative calculation can be performed according to respective physical states, task states and related information of adjacent bees, the positions and corresponding actions of the bees of the machine are adjusted, and the purpose of cooperatively completing the same task is achieved.
The cluster control system and the machine bee system are in one-to-many relationship, and can be contacted through the communication module.
The cluster control system comprises a controller, a communication module and a synchronization module, does not need to be always networked with a machine bee system, and only needs to be networked once when tasks are arranged; when the tasks are arranged, all the machine bee systems are in the working range of the communication module of the cluster control system and can receive task information issued by the communication module of the cluster control system.
The cooperative controller of the machine bee system can form a distributed computing network with the cooperative controllers of other nearby machine bee systems through the communication module to jointly complete the task target issued by the controller of the cluster control system.
The machine bee system senses external information according to the sensor module so as to coordinate with the control of nearby machine bees and guide the cooperative controller to control the work of the four modules in the machine bee system to cooperatively complete corresponding task actions; the sensor module of the machine bee system contains visual perception (including a camera), olfactory perception to enable identification of flower pollen, obstacle avoidance, and help identify other conditions (e.g., machine bees through vision and communication). In addition, the machine bees detect the environment by means of computer vision (a sensor module and a positioning system), analyze the characteristics of the surrounding environment, realize self-planning of the path and avoid obstacles.
The machine bee system can position the position of the machine bee according to the positioning system so as to become a basis for information communication, task allocation and operation adjustment with a partner.
The machine bee system controls various current actions of the machine bees through the executing mechanism, including a flying mechanism, a crawling mechanism, a honey collecting mechanism and the like.
The machine bee system may communicate with other machine bee systems via a communication module and may also communicate with a swarm control system, preferably using an ad hoc network.
And the controller of the cluster control system is used for acquiring the instruction and task data of the user, decomposing and calculating the instruction and task data of the user and distributing the instruction and task data to the machine bee cluster.
The communication module of the cluster control system is used for information transmission, and comprises information for distributing tasks to a plurality of machine bee systems, data (such as images returned by the machine bees and return reports of task completion) from the machine bee systems can be received, and synchronous information and time signals can be distributed to the machine bee systems.
The synchronization module of the cluster control system is a standard time signal and is used for regulating and controlling the time of the whole machine bee cluster, ensuring that different machine bees can unify respective time standards when receiving tasks and receiving synchronization success or failure information transmitted back by the machine bees.
The cooperative controllers distributed in each machine bee system are networked to form a distributed computing network, so that the decomposition computing of tasks and the behavior control of the machine bees are completed, and the whole colony is controlled; the user only needs to distribute the task once, and after the task is distributed, the forced intervention of the central controller and the user is not needed in the whole task execution process; the machine bee system has the characteristics of autonomy, the machine bee systems are highly connected and mutually sensed, and the fault of a certain machine bee does not influence the smooth completion of the whole task.
The invention relates to a cluster control method and a cluster control system for machine bees, which mainly have the following advantages:
first, tasks that the individual is unable to perform can be accomplished. By improving their "wisdom" and "competency" through distributed computing by multiple machine bees, which can exhibit smarter "wisdom" and more powerful "competency" than a single machine bee, can accomplish more complex tasks requiring higher "wisdom". Cluster-controlled machine bees, the "wisdom" of a single individual is still very low, but can collaborate and perform distributed computation by multiple machine bees, and can exhibit higher "wisdom" and computational power in terms of global performance and overall performance.
Secondly, control and task allocation of bee colonies are simple. The user only needs to send the instruction and the task information to the machine bee colony at the beginning, and the machine bee distributes and decomposes the task by self. When the task is executed, the individual of the machine bee acts independently, and the action is local and independent; the machine bee can act only by local information, and even if the global information cannot be known, the individual can act; and they act anonymously, independent of identity, and can accomplish tasks without knowing individual information. The machine bees in a certain area can automatically avoid the same kind and obstacles, so that good and ordered air traffic is kept without the intervention of users.
Again, clustered machine bees can increase fault redundancy. The single high-reliability robot may influence the task execution due to failure, but even if one or more machine bees in the cluster fail, the whole cluster can continue to work to ensure the smooth completion of the task, so the machine bee cluster has good stability, high reliability and high robustness. The existing unmanned aerial vehicle communication mode mainly adopts a single-machine and ground station communication mode, information transmission is still centralized, a decentralized machine bee cluster can realize high-speed sharing of information between unmanned aerial vehicles by utilizing a self-organizing network technology, and meanwhile, the fault resistance and self-healing capacity of the cluster are improved.
Finally, the invention can solve the conflict among multiple machines in the limited space, and meet the functional requirements in a low-cost and highly-dispersed mode. The single machine bee of the invention has small volume, low cost, simple structure and low chip requirement, the clustered machine bees can complete tasks with high difficulty, such as distributed detection, distributed computation, distributed voting, distributed attack and the like, at low cost, and the target can be completed with higher standard through the cooperation of a plurality of simple small platforms.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic system structure diagram of a cluster control method and system for machine bees according to the present invention.
Fig. 2 is a design implementation of a multi-machine bee terminal group of the cluster control method and system for machine bees according to the present invention.
Fig. 3 is a schematic diagram of a system workflow of a cluster control method and system for machine bees according to the present invention.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a schematic system structure diagram of a cluster control system based on machine bees according to an embodiment of the present invention includes the following modules:
the system comprises a cooperative controller (101), a sensor module (102), a positioning system (103), an execution mechanism (104), a communication module (105), a controller (106), a communication module (107) and a synchronization module (108).
The hardware of the cooperative controller (101) is divided into a CPU module, a power supply module, a digital I/O input module, a digital I/O output module and an analog I/O module, and all the modules are connected through a bottom plate connecting module. The power supply module provides various levels of working voltage for each module; the CPU module is the core of the whole cooperative controller system, forms a virtual PLC system with other I/O modules, executes an application program by transplanting an embedded system in the CPU module, collects signals of an input module, and controls the output of other I/O modules through processing, thereby achieving the purpose of realizing function customization. A CPU cooperating with the controller. The cooperative controller preferably uses an ARM Cortex-A9 microprocessor as a control chip, exceeds 2.0 DMIPS/MHz, can configure a cache memory of 2MB at most, and is suitable for a scheme which requires high performance, low power consumption, sensitive cost and is based on a single-core processor; the SDRAM with the capacity of 16MB is expanded to execute an internal embedded operating system so as to improve the running speed of the whole system; the Flash chip with the capacity of 8MB is expanded to be used as the storage of an embedded operating system and an application program; the RS232 communication interface 1 is used as a monitoring interface of the whole device, monitors the starting information of the system through interface software provided by an upper computer, and is also used as a debugging interface, and can realize the functions of setting system variables of the device and the like through commands; the Ethernet interface realizes communication with the upper computer, quickly downloads the embedded system and the application program, monitors the running state change of the system and realizes information interaction between the upper computer and the virtual PLC system; the I2C bus interface communicates with peripheral devices based on this protocol. The interface signal processing module is used for realizing the connection between the device and the external I/O interface. In order to suppress noise signals and prevent a sensitive circuit from being damaged due to sudden change of external voltage, a digital I/O circuit needs to use a photo coupler, realize signal input through a pull-up resistor and the photo coupler, and realize signal output through a pull-down resistor and the photo coupler. The analog I/O circuit adopts PCF8591 chip. The circuit preprocessing part mainly completes the functions of signal filtering, level conversion and the like, and converts the analog quantity on site into a voltage signal suitable for A/D conversion and then converts the voltage signal. The voltage input signal passes through a filtering and voltage clamping circuit, and then is subjected to level gain conversion and input to an A/D interface; if the current is input at 4-20 mA, I/V conversion is firstly carried out and then treatment is carried out. The analog output signal of PCF8591 is held by an internal holder, so that the existing output signal can be kept unchanged before a new output signal arrives, and the driving signal of the actuating mechanism is held, the output signal of the holder is sent to the actuating mechanism through a filtering circuit, a gain conversion circuit and a power amplification circuit, the voltage of 0-10V is output, and the actuating mechanism is controlled to act according to the required control rule.
The whole software system of the cooperative controller (101) consists of four parts, namely a Bootloader bootstrap program, a Linux operating system, a system service program and a user application program in sequence. The Bootloader mainly completes hardware detection and system guidance; the operating system mainly manages system hardware equipment, shields the specific details of hardware, provides a standard interface for an upper application program, and facilitates the writing and transplanting of the application program; the system service program provides the application program of the service for the user and provides necessary service for the application program of the user; the user application program is program code for realizing the virtual PLC function in the device. And taking the U-Boot as a Boot loader, initializing hardware equipment and establishing a mapping chart of a memory space, so that the software and hardware environment of the system reaches a proper state, and a correct environment is prepared for finally calling an operating system kernel. Then decompressing the kernel image and jumping to the kernel image inlet. The Linux operating system comprises a Linux kernel and a root file system: the Linux kernel transplants the Linux system and various device drivers according to the actual hardware condition of the device. The Linux kernel carries out kernel compiling aiming at a CPU target board of the virtual PLC system to realize various equipment drivers of a CPU module, including a network interface, an RS232 serial port, an I2C bus driver, a device 3-type running state interrupt driver and the like; the root file system is used for storing various tools (Linux commands and the like), application programs, necessary link libraries and the like, the RAMDISK is used as the root file system of the device, the RAM and the DISK are connected, and a space is opened up in the RAM to be used as a DISK. And executing an init program of the user, and finishing the work of system initialization, starting related services, managing user login and the like. The system service program mainly comprises the following parts: compiling and generating rz and sz tools by using an lrz/lsz toolkit to realize the uploading and downloading of application programs on the serial port; compiling and generating an FTP server client program by using a bftpd tool, and realizing that an upper computer logs in a server and uploads and downloads application programs; the device state judgment program is written, and the downloading, running and stopping of the device are realized by reading 3 different states. The user application program is an executable file generated by compiling a ladder diagram program of the PLC, and because the RAMDISK is loaded in the memory SDRAM to run, and data is not stored after power failure, in order to store the downloaded device executable file and some data needing to be stored, a Jffs2 file system is manufactured, so that the flash chip can be efficiently and directly operated, meanwhile, the accidental power failure condition is fully considered, and after the Linux system is started, the Jffs2 file system is automatically mounted to a certain folder of the RAMDISK, and a user can conveniently create and store the application program.
The sensor module (102) mainly comprises a visual perception device (camera), an olfactory sensor and a touch perception device. The sensor module detects the motion and working condition of the machine bees in real time, feeds back the motion and working condition to the cooperative controller according to needs, and adjusts the actuating mechanism after comparing the motion and working condition with set information so as to ensure that the motion of the machine bees meets the preset requirements. Sensors can be broadly divided into two categories: one is an internal information sensor for detecting internal conditions of each part of the robot, such as the position, velocity, acceleration, etc. of each limb, and sending the detected information as a feedback signal to the cooperative controller to form closed-loop control. One is an external information sensor, which is used to obtain information about the working object of the bee and the external environment, so that the action of the robot can adapt to the change of the external situation, to achieve higher level automation, even to make the robot have a certain sense, to develop intellectualization, such as the vision, smell and other external sensors give information about the working object and the working environment, and to form a large feedback loop by using the information, thereby greatly improving the working precision of the robot.
The visual sensor is arranged at the position of the bee eye of the machine bee and is used for acquiring the position of the machine bee in a three-dimensional space, helping to identify flowers, pollen, obstacles or task targets and the like. Preferably, the camera is a LINE offset/LINE of defense (model: webcam with cloud platform), and has the advantages of variable focus, photosensitive area of 1/3 inches, effective distance of more than 30m, and lens size of 2.8 mm. Furthermore, the cameras are formed into an array by more than two cameras with different angles so as to form omnibearing position monitoring; furthermore, the camera and the three-dimensional positioning and tracking equipment complete tracking and positioning of the user together, and position positioning, analysis, judgment, collision calculation, motion trajectory analysis and evolution are further improved.
The olfactory sensor is arranged at a position below the bee eyes of the machine bees, and the main component is a gas sensor used for searching the odor source (such as searching blooming flowers and identifying pollen). The odor molecules are adsorbed by a sensor array in a machine olfaction system to generate an electric signal; the generated signals are processed and transmitted by various methods; and judging the processed signal by a computer mode identification system.
The tactile perception device is perception information generated by force feedback and is arranged on the limbs of the machine bees, and comprises a contact sense, a pressure sense, a force sense and a sliding sense. Contact sense, detecting whether the contact is made with an object or not, and the contact position, determining the position of the object, identifying the shape of the object, controlling the speed, ensuring the safety, stopping abnormally, and seeking a path; the sensing device comprises a photoelectric sensor, a microswitch, a film characteristic and a pressure-sensitive high polymer material. Pressure sense, detecting pressure, grip strength and pressure distribution on an object, controlling the grip strength, identifying a held object and measuring the elasticity of the object; the sensing device comprises a piezoelectric element, conductive rubber and a pressure-sensitive high polymer material. Force sense, detecting external force and torque applied to relevant parts (such as feet) of the machine bees, controlling the movement of the feet, performing servo control, and performing positive solution to complete the operation; the sensing device comprises a strain gauge and conductive rubber. The slip sense is that the displacement of the object in the direction vertical to the holding surface and the deformation caused by gravity are detected, the grip strength is corrected, the slip is prevented, and the weight and the surface state of the object are judged; the sensing device comprises a spherical contact point type, a photoelectric rotation sensor, an angle encoder and a vibration detector.
The executing mechanism (104) is arranged in the machine bee body and comprises a flying mechanism, a crawling mechanism, a honey collecting mechanism and the like, and each mechanism comprises a driving circuit and a mechanical device. The driving circuit is a circuit for driving the actuating mechanism to move, and the machine bees are driven to move (such as flying, accelerating, decelerating, descending, limb movement and the like) by means of a mechanical device according to a command signal sent by the cooperative controller. It inputs electric signals and outputs linear and angular displacement. Preferably, an electric driving means such as a stepping motor, a servo motor, or the like is used in order to reduce the volume.
The positioning system (103) is installed in the body of the machine bee and measures the position of the positioning system and the distance from the surrounding. When the position of the user is measured, GPS is adopted for positioning. The position sense is responsible for detecting the position, the angle and the distance of an object, detecting the space position of the object and judging the movement of the object; the sensing device is a photosensitive array, a CCD and the like. Detecting whether the sensor is in contact with an object or not, determining the position of the object, identifying the shape of the object, controlling the speed, ensuring the safety, stopping abnormally, and searching the path, wherein the sensor is a photoelectric sensor, a microswitch, a film characteristic and a pressure-sensitive high polymer material. Preferably, when measuring the distance between the sensor and the surroundings, the sensor adopts an infrared sensor, and the infrared sensor positioning has the advantages of high sensitivity, simple structure, low cost and the like, and the angular resolution and the distance resolution are high, so that the sensor is used as a proximity sensor in moving machine bees to detect approaching or sudden movement obstacles, and the machine bees can be conveniently and emergently stopped and avoided.
The communication module (105) is installed in the bee body of the machine. The communication module (107) is installed in the cluster system. A multi-stage relay self-organizing network system is formed by a plurality of ZigBee modules in a wireless communication mode, and ZigBee devices in the area can be perceived, collected and processed in a mutual cooperation mode. Preferably, a ZigBee wireless module and a WIFI module are used, and the ZigBee wireless module node adopts CC2530 of TI company as a main controller chip. The chip is a true system-on-chip solution for 2.4GHz IEEE 802.15.4, ZigBee and RF4CE applications. It combines the superior performance of the leading RF transceivers, based on 51 cores, in-system programmable flash memory, 8KB RAM and many other powerful functions. The network protocol has the characteristics of low complexity, low power consumption, low speed, low cost, ad hoc network, high reliability and beyond visual range, and is based on ad hoc network and multipoint relay and can realize mesh topology. In addition, the ZigBee has a unicast mode and a broadcast mode, and a controller of a general headquarter sends task information to machine bees and also enables the machine bees to communicate with each other. The unicast mode is that data is sent to a target device by a source device; in the unicast mode, data is sent by the source device, and is sent to the destination address directly or after several stages of transfer. Unicast transmission can be performed between all devices joining the Zigbee network. The specific routing relation is maintained and inquired by the coordination node/routing node. The broadcasting mode is that data is sent to all devices in the whole network by one source device; in the broadcast mode, data is sent to all devices of the whole Zigbee network by one device sending information directly or through route relay, and the target address uses a 16-billed FFFF. Only the coordinator supports the broadcast mode in the device for that. WIFI is a technology that allows an electronic device to connect to a Wireless Local Area Network (WLAN), preferably using the 2.4G UHF or 5G SHF ISM radio frequency bands; the transmission speed is very high, can reach 54Mbps, and meets the requirement that the trunking system sends task information to the machine bees.
The controller (106) is installed in the cluster system and is mainly used for transmitting task information. The system consists of a program counter, an instruction register, an instruction decoder, a time sequence generator and an operation controller, and is a decision mechanism for issuing commands, namely, the system completes coordination and commands the operation of the whole cluster system. The recommended use is Tuhua UNO-2171-P12E. The device type: an industrial controller. Functional overview: the integrated Celeron M1.0 GHz on the board, 512MB DDR DRAM provides 512KB battery backup SRAM to support the LM sensor, can obtain CPU and board card temperature, is used for monitoring 2 RS-232 and 2 RS-232/422/485 ports, has automatic data stream control 2 10/100Base-T RJ-45 ports, 2 USB and 1 Type I/II PC card, 2 optional PC/104 extended Windows CE.5.0 and Windows XP Embedded solution to support Windows 2000/XP and Linux driver. Product characteristics 1: P-M1.4G, 1 GB RAM UNO-2171.
The synchronization module (108) is installed in the cluster system and comprises a display screen and a server. On one hand, the information sent back by the machine bees is received through the communication module and is processed and visualized on the display screen through the controller, and on the other hand, the information such as the time of the machine bees is regulated and controlled, and the unification of the standards such as the time of the machine bees is kept. The synchronous display is available: and the synchronous control transmitting box T13E of the LED full-color display screen or the synchronous control transmitting card of the USB patent of the LED full-color high-definition display screen. The display screen is available: xin various morning PH4 table pastes trinity indoor full-color LED display screen, parameter: general specification: the product specification PH4, the pixel diameter is 4mm, the point center distance is 4mm, the pixel density is 62500 points per square meter, and the unit plate size is 256 multiplied by 128 mm. And (4) display specification: screen resolution 128 × 128, display primary color full color, pixel composition 1R1G1B, viewing angle level: 140 DEG vertical: the visual distance is 3-25m at 100 degrees, the white balance brightness is not less than 2000 cd/square meter, and the display modes are synchronously displayed. Electrical specification: correcting the error of the maximum power of 2600W/square meter, the average power of 1800W/square meter and the working voltage AC of 220V +/-15% and 50 HZ. Other specifications are as follows: refresh frequency 180HZ, drive mode 1/16 sweep (dynamic), transmission distance 100m (no relay), operating environment storage temperature: -operating temperature of 40-85 ℃: 10-50 ℃, service life of 7500 and 10000 hours, product weight of 18Kg/m2, and other performance brightness adjusting modes: automatic brightness induction adjustment: 16-level adjustable, computer operating system: WIN98, WINXP, WIN2000, etc., software manual adjustment: 100-level adjustable 100, video screen signal: RF, S-Video, RGB, RGBHV, YUV, YC, COMPOSITION, etc., the control system: PCTV card (optional) + DVI display card + Master control card + fiber Optic transport (optional).
As shown in fig. 2, in an embodiment of the method and system for controlling a cluster of machine bees according to the present invention, after a communication module of the machine bees performs frequency selection, demodulation, reception, and processing on a signal transmitted from the cluster system, the processed information is delivered to a cooperative controller, the cooperative controller performs resolution calculation on a task by combining a positioning module included in an input module, positioning by a GPS (mainly GPS), and information data collected by a sensor module through a vision system, an olfaction system, and a touch system. The cooperative controller is used for calculating a CPU in hardware, inputting data through the digital I/O input module, the analog I/O module is used for balancing signals to perform circuit preprocessing and mainly completing functions of signal filtering, level conversion and the like, firstly converting field analog quantity into a voltage signal suitable for A/D conversion and then converting the voltage signal, and the memory is used for storing data information if necessary. A set of scheme most suitable for the operation of the machine bees is obtained by outputting information through the digital I/O output module, then the scheme is handed to the execution mechanism to be executed, and after the scheme from the cooperative controller is obtained by the execution mechanism, corresponding actions are completed by controlling limbs (wings, feet, tentacles, mouths, straws and the like) of the machine bees according to instructions, so that tasks are completed. If necessary, the machine bee is also modulated outwards (other machine bees or the trunking system) by its communication module, and the transmitting module transmits signals. During the whole period, the power supply module can supply power to all internal structures of the whole machine bee.
As shown in fig. 3, which is a schematic view of a work flow of the machine bee system provided in the embodiment of the present invention, after a user opens a terminal of the trunking system, the system is started to initialize information, and the user sends task information through a controller of the trunking system. The machine bees receive and receive the tasks, preliminary approximate task division (such as function division, area division and the like) is carried out, after the division is finished, a plurality of detection bees go out to explore the path, terrain detection is carried out, after the detection is finished, the machine bee colony carries out path planning, a safe and road-close path scheme is selected, and then the machine bees take off. During flying, the machine bees encounter obstacles to avoid in real time, and keep a safe distance from the adjacent machine bees, and the route is required to be adjusted within the safe distance. After flying to the destination, clustering starts to disperse tasks by taking the first arrived machine bee as the center, and the machine bee determines the specific responsibility range and the specific key of the machine bee through an algorithm according to the behaviors of the adjacent machine bees to start to execute the tasks. When the current task is finished, detecting whether the whole task is finished, if the whole task is not finished, filling, dividing the working range of the bee according to the behaviors of the adjacent bees, adjusting the behavior of the bee, and finishing the task by cooperating with other machine bees; if the machine bees are failed, scrapped and lost for a long time (time can be set according to different tasks) midway, the task completed by the bees is regarded as incomplete; if the whole task is completed, the task is finished.
From the above description, those skilled in the art can make various changes and modifications within the scope of the technical idea of the present invention without departing from the scope of the invention. The present invention is not limited to the details given herein, but is within the ordinary knowledge of those skilled in the art.
Claims (10)
1. Machine honeybee's cluster control system, its characterized in that: comprising a machine bee (100) and a colony control system (109); the machine bee (100) comprises a co-controller (101), a sensor module (102), a positioning system (103), an actuator (104) and a communication module (105) of the machine bee; the cluster control system (109) comprises a controller (106), a communication module (107) and a synchronization module (108) of the cluster control system; the method is characterized in that: a controller (106) of the cluster control system (109) for calculating and generating task information and resource requirements for a collective of the machine bees when the machine bees are required to perform the same task; the synchronization module (108) is used for generating synchronization information and unifying the time standard of each machine bee individual in the whole colony; a communication module (107) of the cluster control system sends task information and resource requirements generated by a controller (106) of the cluster control system and synchronization information generated by a synchronization module (108) to each machine bee; the communication module (105) of the machine bee can receive communication signals of the trunking control system and communication signals of other machine bees; after receiving the communication signal, the system can respond according to the current task and resource condition of the system; the sensor module (102) of the machine bee (100) can sense the real-time state of the outside; the positioning system (103) detects the real-time position of the bee and the surrounding environment information; the executing mechanism (104) is used for completing various predefined actions of the machine bees, including taking off, flying, landing, accelerating, decelerating and honey collecting; the collected data are transmitted to other machine bees in the same team through a communication module (105) of the machine bees so as to share information and cooperate with the machine bee cluster;
the cooperative controller (101) can perform distributed computation with cooperative controllers of other machine bees, the distributed cooperative controllers are formed by the communication modules (105) of the machine bees, analysis and cooperative computation can be performed according to respective physical states, task states and related information of adjacent machine bees, and then the positions and corresponding actions of the machine bees are adjusted, so that the purpose of cooperatively completing the same task is achieved;
when a communication module of a machine bee receives and processes signals sent by a trunking control system through frequency selection and demodulation, the processed information is delivered to a cooperative controller, the cooperative controller is combined with a positioning module contained in an input module and is positioned by a GPS, and a sensor module carries out decomposition calculation on tasks through information data collected by a vision system, an olfaction system and a touch system; the CPU in the corresponding hardware of the cooperative controller is responsible for calculation, data are input through the digital I/O input module, the analog I/O module is used for balancing signals to perform circuit preprocessing, the functions of signal filtering and level conversion are completed, the analog quantity on site is converted into an applicable voltage signal after A/D conversion, and then conversion is performed, and the memory stores data information if necessary; outputting information through a digital I/O output module to obtain a set of scheme most suitable for the operation of the bee robot at present, then handing the scheme to an execution mechanism for execution, and after the execution mechanism obtains the scheme from the cooperative controller, controlling the limbs of the bee robot according to instructions to complete corresponding actions so as to complete tasks; if necessary, the machine bee can also be modulated outwards through the communication module of the machine bee, and the transmitting module transmits signals; during the whole period, the power supply module can supply power to all internal structures of the whole machine bee;
after a user opens a terminal of the cluster control system, the system is started, information is initialized, and the user sends task information through a controller of the cluster control system; the machine bees receive the tasks, preliminary approximate task division is carried out, after division is carried out, a plurality of detection machine bees go out to explore the road and carry out terrain detection, after detection is carried out, the machine bee colony carries out path planning, a safe and road-close path scheme is selected, and then the machine bees take off; during flying, the machine bees encounter obstacles to avoid in real time, and keep a safe distance from the adjacent machine bees, and the route of the machine bees is required to be adjusted within the safe distance; after flying to a destination, clustering to start a decentralized task according to a first arrived machine bee and taking the first arrived machine bee as a center, determining a specific responsibility range and a specific key of the machine bee by an algorithm according to the behaviors of adjacent machine bees, and starting to execute the task; when the current task is finished, detecting whether the whole task is finished, if the whole task is not finished, filling, dividing the working range of the bee according to the behaviors of the adjacent machine bees, adjusting the behavior of the bee, and finishing the task by cooperating with other machine bees; if the machine bees are failed, scrapped and lost for a long time midway, the task which is completed by the machine bees is considered as incomplete; if the whole task is completed, the task is finished.
2. The bee colony control system according to claim 1, wherein: the cluster control system (109) is in a one-to-many relationship with the machine bees (100), which can be contacted by a communication module.
3. The bee colony control system according to claim 1, wherein: the cluster control system (109) comprises a controller (106), a communication module (107) and a synchronization module (108) of the cluster control system, and is not required to be always networked with the machine bees (100), and only once task is required to be networked when the task is arranged; when the tasks are arranged, all the machine bees (100) are in the working range of the communication module (107) of the cluster control system (109) and can receive task information issued by the communication module (107) of the cluster control system (109).
4. The bee colony control system according to claim 1, wherein: the cooperative controller (101) of the machine bee (100) can form a distributed computing network with the cooperative controllers (101) of other nearby machine bees (100) through the communication module (105) of the machine bee to jointly complete a task object issued by the controller (106) of the cluster control system (109).
5. The bee colony control system according to claim 1, wherein: the machine bee (100) senses external information according to the sensor module (102) so as to coordinate with the control of the nearby machine bee and guide the cooperative controller (101) to control the work of four modules in the machine bee to cooperatively complete corresponding task actions; the sensor module of machine bee contains visual perception, the sense of smell perception to can discern flower pollen, avoid the barrier, and help discernment other condition, in addition, machine bee relies on computer vision to detect the environment, analyzes the characteristic of surrounding environment, realizes self-programming route, avoids the barrier.
6. The bee colony control system according to claim 1, wherein: the machine bee (100) can position the position of the machine bee according to the positioning system so as to become a basis for information communication, task allocation and operation adjustment with a partner; the machine bee (100) controls various current actions of the machine bee through an execution mechanism (104), including a flight mechanism, a crawling mechanism and a honey collection mechanism; the machine bees (100) can communicate with other machine bees via their communication modules (105) and also with the swarm control system (109).
7. The bee colony control system according to claim 1, wherein: and the controller (106) of the cluster control system (109) is used for acquiring the instruction and task data of the user, decomposing and calculating the instruction and task data of the user and distributing the instruction and task data to the machine bee clusters.
8. The bee colony control system according to claim 1, wherein: the communication module (107) of the group control system (109) is used for information transmission, including distributing task information to a plurality of machine bees, receiving data from a plurality of machine bees, and distributing synchronization information and time signals to a plurality of machine bees.
9. The bee colony control system according to claim 1, wherein: and a synchronization module (108) of the cluster control system (109) generates a standard time signal for regulating and controlling the time of the whole machine bee cluster, so that different machine bees can unify respective time standards when receiving tasks, and information of synchronization success or failure returned by the machine bees is received.
10. The control method of a cluster control system according to claim 1, characterized in that: the cooperative controllers (101) distributed in all the machine bees (100) are networked to form a distributed computing network, so that the decomposition computing of tasks and the behavior control of the machine bees are completed, and the whole colony is controlled; the user only needs to distribute the task once, and after the task is distributed, the forced intervention of the central controller and the user is not needed in the whole task execution process; the machine bees (100) have the characteristics of autonomy, are highly connected with each other and mutually sense, and the fault of a certain machine bee does not influence the smooth completion of the whole task.
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