CN110879556A - Multi-robot cooperative control method and device in multi-robot local area network - Google Patents
Multi-robot cooperative control method and device in multi-robot local area network Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a multi-robot cooperative control method and a device in a multi-robot local area network, wherein the method comprises the following steps: the method comprises the steps that a main robot receives a task control instruction sent by a user terminal; the main robot analyzes the received task control command and obtains the task amount, the task starting time, the task finishing time and the task implementation position contained in the task control command; the master robot determines whether the slave robot needs to assist in completing the task based on the task amount, the task starting time and the task completing time contained in the task control command; if so, the master robot acquires the number of slave robots needing assistance and corresponding IDs in the local area network; the master robot sends the task coordination command to the slave robot corresponding to the ID based on the local area network; and the slave robots corresponding to the IDs respond to the task control command to complete multi-robot cooperative control. In the embodiment of the invention, the cooperative control of multiple robots can be quickly realized according to the task implementation requirement.
Description
Technical Field
The invention relates to the technical field of robot cooperative control, in particular to a multi-robot cooperative control method and device in a multi-robot local area network.
Background
The robot technology gradually matures, the robot is widely applied to industry, service industry, dangerous work and the like, networking is needed in a certain application environment, and the robot and other robots cooperatively complete corresponding work tasks or service tasks; the existing robot control technology is generally realized through the internet and a relatively complex cooperative control algorithm, so that the existing robot control technology is easily influenced by the network speed, also needs higher support of robot hardware and software, or is difficult to realize a good cooperative control effect; this often requires an increase in the cost of use of the robot and an increase in the burden on the user.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a multi-robot cooperative control method and device in a multi-robot local area network, which can quickly realize the cooperative control of multiple robots according to the task implementation requirements and achieve better cooperative control effect.
In order to solve the above technical problem, an embodiment of the present invention provides a multi-robot cooperative control method in a multi-robot lan, where the method includes:
the method comprises the steps that a main robot receives a task control instruction sent by a user terminal, wherein the task control instruction is generated by a user based on the operation of an operation interface of the user terminal;
the host robot analyzes the received task control command to obtain the task amount, the task starting time, the task finishing time and the task implementation position contained in the task control command;
the master robot determines whether to assist in completing the slave robot of the task based on the task amount, the task starting time and the task completing time contained in the task control command;
if so, the master robot acquires the number of slave robots needing assistance and corresponding IDs in a local area network;
the master robot sends a task coordination instruction to the slave robot corresponding to the ID based on the local area network;
and the slave robots corresponding to the IDs respond to the task control instruction to complete multi-robot cooperative control.
Optionally, the task control instruction includes a task implementation position, a task amount, a task start time, and a task completion time.
Optionally, the determining, by the master robot, whether to assist in completing the task by the slave robot based on the task amount, the task start time, and the task completion time included in the task control instruction includes:
acquiring the task amount which can be completed by the main robot in unit time;
calculating based on the task amount contained in the task control command and the task amount which can be completed by the main robot in unit time, and determining whether the task control command is completed within a specified time period;
if the task control command is determined to be completed within the specified time period, determining the slave robots which do not need to assist in completing the task; otherwise, the slave robots needing to assist in completing the task are determined.
Optionally, the acquiring, by the master robot, the number of slave robots needing assistance and corresponding IDs in the local area network includes:
the main robot obtains all robots in the local area network and corresponding position information thereof based on the local area network;
the master robot calculates and obtains the number of slave robots needing assistance;
and the master robot selects the slave robots needing assistance according to the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
Optionally, the selecting, by the master robot, the slave robots to be assisted according to the number of the slave robots to be assisted, and obtaining the corresponding IDs of the slave robots to be assisted includes:
and the master robot selects the slave robots needing assistance according to all the robots in the local area network and the corresponding position information, the task implementation positions and the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
Optionally, the sending, by the master robot, the task coordination instruction to the slave robot corresponding to the ID based on the local area network includes:
the main robot generates a task coordination instruction based on the task control instruction;
sending the task coordination instruction to the slave robot of the corresponding ID based on the local area network;
and the task cooperation instruction is packaged with the ID of the slave robot.
Optionally, the slave robot corresponding to the ID responds to the task cooperative instruction to complete multi-robot cooperative control, including:
the slave robot corresponding to the ID analyzes the task cooperative instruction to obtain the ID of the slave robot in the task cooperative instruction;
and matching the ID of the slave robot with the corresponding ID, and when the ID of the slave robot is matched with the corresponding ID, responding the task cooperative instruction by the slave robot corresponding to the ID to complete the cooperative control of the multiple robots.
In addition, an embodiment of the present invention further provides a multi-robot cooperative control apparatus in a multi-robot lan, where the apparatus includes:
an instruction receiving module: the main robot receives a task control instruction sent by a user terminal, and the task control instruction is generated by a user based on the operation of an operation interface of the user terminal;
an instruction analysis module: the main robot is used for analyzing the received task control command to obtain the task quantity, the task starting time, the task finishing time and the task implementation position contained in the task control command;
a confirmation module: the slave robot is used for determining whether the master robot needs to assist in completing tasks or not based on the task quantity, the task starting time and the task completing time which are contained in the task control command;
an obtaining module: the method comprises the steps that if the slave robots need to assist to complete tasks, the master robot acquires the number of the slave robots needing to assist and corresponding IDs in a local area network;
an instruction sending module: the slave robot is used for sending the task coordination instruction to the corresponding ID based on the local area network by the master robot;
a response module: and the slave robots used for the corresponding IDs respond to the task cooperative instruction to complete multi-robot cooperative control.
In the embodiment of the invention, the networking is carried out in a local area network mode, so that the sending of the instruction can be increased rapidly, and the influence caused by other factors such as network speed is reduced; whether the robot needs assistance is determined by calculating whether the robot can execute the corresponding tasks of the network within the set time, and a task cooperative instruction is generated to control when the robot needs assistance, so that the cooperative control of multiple robots can be quickly realized according to the task implementation requirement, and a better cooperative control effect is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a multi-robot cooperative control method in a multi-robot lan according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a multi-robot cooperative control apparatus in a multi-robot lan according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a multi-robot cooperative control method in a multi-robot lan according to an embodiment of the present invention.
As shown in fig. 1, a method for cooperative control of multiple robots in a multiple-robot lan includes:
s11: the method comprises the steps that a main robot receives a task control instruction sent by a user terminal, wherein the task control instruction is generated by a user based on the operation of an operation interface of the user terminal;
in the specific implementation process of the invention, the task control instruction is packaged with a task implementation position, a task amount, a task starting time and a task completing time.
Specifically, the main robot receives a task control instruction sent from a user terminal, and further, a user generates the task control instruction by operating on an operation interface corresponding to the user terminal, the user terminal has a corresponding applet or APP, the user first passes through corresponding authority authentication, such as user account password login authentication and the like, and after the authority authentication, enters a corresponding applet or APP operation interface, and generates the task control instruction by corresponding operation, and the task control instruction mainly includes a task implementation position, a task amount, a task start time, and a task completion time.
S12: the host robot analyzes the received task control command to obtain the task amount, the task starting time, the task finishing time and the task implementation position contained in the task control command;
in the specific implementation process of the invention, the host robot analyzes the received task control command through a corresponding analysis program, so as to obtain the task amount, the task starting time, the task completing time and the task implementation position contained in the task control command.
S13: the master robot determines whether to assist in completing the slave robot of the task based on the task amount, the task starting time and the task completing time contained in the task control command;
in a specific implementation process of the present invention, the determining, by the master robot, whether a slave robot that needs to assist in completing a task needs to be performed based on a task amount, a task start time, and a task completion time included in the task control instruction includes: acquiring the task amount which can be completed by the main robot in unit time; calculating based on the task amount contained in the task control command and the task amount which can be completed by the main robot in unit time, and determining whether the task control command is completed within a specified time period; if the task control command is determined to be completed within the specified time period, determining the slave robots which do not need to assist in completing the task; otherwise, the slave robots needing to assist in completing the task are determined.
Specifically, the task amount which can be completed within a specified time is calculated through the task amount completed within the unit time of the main robot; firstly, acquiring the task amount which can be completed by the main robot in unit time; then calculating the task amount which can be completed by the main robot in the task time according to the task amount which can be completed in the unit time and the task time (obtained by subtracting the task starting time and the task completing time) which needs to be executed in the task control command, and then comparing the task amount with the task amount contained in the task control command to confirm whether the task can be completed in the specified time period in the task control command; if the task control command is determined to be completed within the specified time period, determining the slave robots which do not need to assist in completing the task; otherwise, determining the slave robot needing to assist in completing the task; comparing the task quantity with the task quantity contained in the task control command, and if the task quantity is larger than the task quantity contained in the task control command, confirming that the task can be completed within a specified time period in the task control command; otherwise, the validation cannot be completed within a specified time period in the task control instruction.
S14: if so, the master robot acquires the number of slave robots needing assistance and corresponding IDs in a local area network;
in the specific implementation process of the present invention, the acquiring, by the master robot, the number of slave robots needing assistance and corresponding IDs in the local area network includes: the main robot obtains all robots in the local area network and corresponding position information thereof based on the local area network; the master robot calculates and obtains the number of slave robots needing assistance; and the master robot selects the slave robots needing assistance according to the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
Further, the selecting, by the master robot, the slave robots to be assisted according to the number of the slave robots to be assisted, and obtaining the corresponding IDs of the slave robots to be assisted, includes: and the master robot selects the slave robots needing assistance according to all the robots in the local area network and the corresponding position information, the task implementation positions and the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
Specifically, firstly, all robots are connected in a corresponding local area network, and the local area network can be composed of routing nodes or corresponding network solutions, such as a router, bluetooth or ZigBee and the like; firstly, a main robot obtains all robots in a local area network and corresponding position information thereof through the local area network; then the main robot obtains the number of the auxiliary robots needing assistance through calculation; and the master robot selects the slave robots needing assistance according to the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
The specific master robot selects the slave robots needing assistance according to all the robots in the local area network and the corresponding position information, the task implementation positions and the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
S15: the master robot sends a task coordination instruction to the slave robot corresponding to the ID based on the local area network;
in a specific implementation process of the present invention, the sending, by the master robot, the task coordination instruction to the slave robot corresponding to the ID based on the local area network includes: the main robot generates a task coordination instruction based on the task control instruction; sending the task coordination instruction to the slave robot of the corresponding ID based on the local area network; and the task cooperation instruction is packaged with the ID of the slave robot.
Specifically, firstly, a main robot generates a task coordination instruction according to a task control instruction; distributing and generating a task coordination instruction according to a task implementation position, a task amount, task starting time and task finishing time in a task control instruction; then sending the task coordination instruction to the slave robot corresponding to the ID through the local area network; in the specific implementation process, the task cooperation instruction is simultaneously packaged with the ID of the slave robot.
S16: and the slave robots corresponding to the IDs respond to the task cooperative instruction to complete multi-robot cooperative control.
In the specific implementation process of the present invention, the slave robots corresponding to IDs respond to the task control instruction to complete multi-robot cooperative control, including: the slave robot corresponding to the ID analyzes the task cooperative instruction to obtain the ID of the slave robot in the task cooperative instruction; and matching the ID of the slave robot with the corresponding ID, and when the ID of the slave robot is matched with the corresponding ID, responding the task cooperative instruction by the slave robot corresponding to the ID to complete the cooperative control of the multiple robots.
Specifically, after receiving the corresponding task coordination command, the slave robot analyzes the task coordination command to obtain an ID therein, matches the ID with the ID of the slave robot, and if the ID matches the ID of the slave robot, the slave robot corresponding to the ID responds to the task coordination command to complete multi-robot coordination control.
In the embodiment of the invention, the networking is carried out in a local area network mode, so that the sending of the instruction can be increased rapidly, and the influence caused by other factors such as network speed is reduced; whether the robot needs assistance is determined by calculating whether the robot can execute the corresponding tasks of the network within the set time, and a task cooperative instruction is generated to control when the robot needs assistance, so that the cooperative control of multiple robots can be quickly realized according to the task implementation requirement, and a better cooperative control effect is achieved.
Examples
Referring to fig. 2, fig. 2 is a schematic structural composition diagram of a multi-robot cooperative control device in a multi-robot lan according to an embodiment of the present invention.
As shown in fig. 2, a multi-robot cooperative control apparatus in a multi-robot lan, the apparatus comprising:
the instruction receiving module 21: the main robot receives a task control instruction sent by a user terminal, and the task control instruction is generated by a user based on the operation of an operation interface of the user terminal;
in the specific implementation process of the invention, the task control instruction is packaged with a task implementation position, a task amount, a task starting time and a task completing time.
Specifically, the main robot receives a task control instruction sent from a user terminal, and further, a user generates the task control instruction by operating on an operation interface corresponding to the user terminal, the user terminal has a corresponding applet or APP, the user first passes through corresponding authority authentication, such as user account password login authentication and the like, and after the authority authentication, enters a corresponding applet or APP operation interface, and generates the task control instruction by corresponding operation, and the task control instruction mainly includes a task implementation position, a task amount, a task start time, and a task completion time.
The instruction analysis module 22: the main robot is used for analyzing the received task control command to obtain the task quantity, the task starting time, the task finishing time and the task implementation position contained in the task control command;
in the specific implementation process of the invention, the host robot analyzes the received task control command through a corresponding analysis program, so as to obtain the task amount, the task starting time, the task completing time and the task implementation position contained in the task control command.
The confirmation module 23: the slave robot is used for determining whether the master robot needs to assist in completing tasks or not based on the task quantity, the task starting time and the task completing time which are contained in the task control command;
in a specific implementation process of the present invention, the determining, by the master robot, whether a slave robot that needs to assist in completing a task needs to be performed based on a task amount, a task start time, and a task completion time included in the task control instruction includes: acquiring the task amount which can be completed by the main robot in unit time; calculating based on the task amount contained in the task control command and the task amount which can be completed by the main robot in unit time, and determining whether the task control command is completed within a specified time period; if the task control command is determined to be completed within the specified time period, determining the slave robots which do not need to assist in completing the task; otherwise, the slave robots needing to assist in completing the task are determined.
Specifically, the task amount which can be completed within a specified time is calculated through the task amount completed within the unit time of the main robot; firstly, acquiring the task amount which can be completed by the main robot in unit time; then calculating the task amount which can be completed by the main robot in the task time according to the task amount which can be completed in the unit time and the task time (obtained by subtracting the task starting time and the task completing time) which needs to be executed in the task control command, and then comparing the task amount with the task amount contained in the task control command to confirm whether the task can be completed in the specified time period in the task control command; if the task control command is determined to be completed within the specified time period, determining the slave robots which do not need to assist in completing the task; otherwise, determining the slave robot needing to assist in completing the task; comparing the task quantity with the task quantity contained in the task control command, and if the task quantity is larger than the task quantity contained in the task control command, confirming that the task can be completed within a specified time period in the task control command; otherwise, the validation cannot be completed within a specified time period in the task control instruction.
The obtaining module 24: the method comprises the steps that if the slave robots need to assist to complete tasks, the master robot acquires the number of the slave robots needing to assist and corresponding IDs in a local area network;
in the specific implementation process of the present invention, the acquiring, by the master robot, the number of slave robots needing assistance and corresponding IDs in the local area network includes: the main robot obtains all robots in the local area network and corresponding position information thereof based on the local area network; the master robot calculates and obtains the number of slave robots needing assistance; and the master robot selects the slave robots needing assistance according to the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
Further, the selecting, by the master robot, the slave robots to be assisted according to the number of the slave robots to be assisted, and obtaining the corresponding IDs of the slave robots to be assisted, includes: and the master robot selects the slave robots needing assistance according to all the robots in the local area network and the corresponding position information, the task implementation positions and the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
Specifically, firstly, all robots are connected in a corresponding local area network, and the local area network can be composed of routing nodes or corresponding network solutions, such as a router, bluetooth or ZigBee and the like; firstly, a main robot obtains all robots in a local area network and corresponding position information thereof through the local area network; then the main robot obtains the number of the auxiliary robots needing assistance through calculation; and the master robot selects the slave robots needing assistance according to the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
The specific master robot selects the slave robots needing assistance according to all the robots in the local area network and the corresponding position information, the task implementation positions and the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
The instruction transmitting module 25: the slave robot is used for sending the task coordination instruction to the corresponding ID based on the local area network by the master robot;
in a specific implementation process of the present invention, the sending, by the master robot, the task coordination instruction to the slave robot corresponding to the ID based on the local area network includes: the main robot generates a task coordination instruction based on the task control instruction; sending the task coordination instruction to the slave robot of the corresponding ID based on the local area network; and the task cooperation instruction is packaged with the ID of the slave robot.
Specifically, firstly, a main robot generates a task coordination instruction according to a task control instruction; distributing and generating a task coordination instruction according to a task implementation position, a task amount, task starting time and task finishing time in a task control instruction; then sending the task coordination instruction to the slave robot corresponding to the ID through the local area network; in the specific implementation process, the task cooperation instruction is simultaneously packaged with the ID of the slave robot.
The response module 26: and the slave robots used for the corresponding IDs respond to the task cooperative instruction to complete multi-robot cooperative control.
In the specific implementation process of the present invention, the slave robots corresponding to IDs respond to the task control instruction to complete multi-robot cooperative control, including: the slave robot corresponding to the ID analyzes the task cooperative instruction to obtain the ID of the slave robot in the task cooperative instruction; and matching the ID of the slave robot with the corresponding ID, and when the ID of the slave robot is matched with the corresponding ID, responding the task cooperative instruction by the slave robot corresponding to the ID to complete the cooperative control of the multiple robots.
Specifically, after receiving the corresponding task coordination command, the slave robot analyzes the task coordination command to obtain an ID therein, matches the ID with the ID of the slave robot, and if the ID matches the ID of the slave robot, the slave robot corresponding to the ID responds to the task coordination command to complete multi-robot coordination control.
In the embodiment of the invention, the networking is carried out in a local area network mode, so that the sending of the instruction can be increased rapidly, and the influence caused by other factors such as network speed is reduced; whether the robot needs assistance is determined by calculating whether the robot can execute the corresponding tasks of the network within the set time, and a task cooperative instruction is generated to control when the robot needs assistance, so that the cooperative control of multiple robots can be quickly realized according to the task implementation requirement, and a better cooperative control effect is achieved.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
In addition, the method and the device for multi-robot cooperative control in a multi-robot lan provided by the embodiment of the present invention are described in detail, and a specific embodiment is adopted herein to explain the principle and the implementation manner of the present invention, and the description of the embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A multi-robot cooperative control method in a multi-robot local area network is characterized by comprising the following steps:
the method comprises the steps that a main robot receives a task control instruction sent by a user terminal, wherein the task control instruction is generated by a user based on the operation of an operation interface of the user terminal;
the host robot analyzes the received task control command to obtain the task amount, the task starting time, the task finishing time and the task implementation position contained in the task control command;
the master robot determines whether to assist in completing the slave robot of the task based on the task amount, the task starting time and the task completing time contained in the task control command;
if so, the master robot acquires the number of slave robots needing assistance and corresponding IDs in a local area network;
the master robot sends a task coordination instruction to the slave robot corresponding to the ID based on the local area network;
and the slave robots corresponding to the IDs respond to the task cooperative instruction to complete multi-robot cooperative control.
2. The multi-robot cooperative control method according to claim 1, wherein a task implementation position, a task amount, a task start time, and a task completion time are encapsulated in the task control instruction.
3. The multi-robot cooperative control method according to claim 1, wherein the master robot determines whether or not it is necessary to assist a slave robot in completing a task based on a task amount, a task start time, and a task completion time included in the task control command, and the method comprises:
acquiring the task amount which can be completed by the main robot in unit time;
calculating based on the task amount contained in the task control command and the task amount which can be completed by the main robot in unit time, and determining whether the task control command is completed within a specified time period;
if the task control command is determined to be completed within the specified time period, determining the slave robots which do not need to assist in completing the task; otherwise, the slave robots needing to assist in completing the task are determined.
4. The multi-robot cooperative control method according to claim 1, wherein the acquiring, by the master robot, the number of slave robots requiring assistance and corresponding IDs in the local area network comprises:
the main robot obtains all robots in the local area network and corresponding position information thereof based on the local area network;
the master robot calculates and obtains the number of slave robots needing assistance;
and the master robot selects the slave robots needing assistance according to the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
5. The multi-robot cooperative control method according to claim 4, wherein the master robot selects the slave robots requiring assistance according to the number of the slave robots requiring assistance, and obtains the corresponding IDs of the slave robots requiring assistance, and the method comprises:
and the master robot selects the slave robots needing assistance according to all the robots in the local area network and the corresponding position information, the task implementation positions and the number of the slave robots needing assistance, and obtains the corresponding IDs of the slave robots needing assistance.
6. The multi-robot cooperative control method according to claim 1, wherein the sending, by the master robot, the task cooperative instruction to the slave robot corresponding to the ID based on the local area network includes:
the main robot generates a task coordination instruction based on the task control instruction;
sending the task coordination instruction to the slave robot of the corresponding ID based on the local area network;
and the task cooperation instruction is packaged with the ID of the slave robot.
7. The multi-robot cooperative control method according to claim 1, wherein the slave robots corresponding to the IDs perform multi-robot cooperative control in response to the task cooperative instruction, and the method comprises:
the slave robot corresponding to the ID analyzes the task cooperation instruction to obtain the ID of the slave robot in the task control instruction;
and matching the ID of the slave robot with the corresponding ID, and when the ID of the slave robot is matched with the corresponding ID, responding the task cooperative instruction by the slave robot corresponding to the ID to complete the cooperative control of the multiple robots.
8. A multi-robot cooperative control apparatus in a multi-robot lan, the apparatus comprising:
an instruction receiving module: the main robot receives a task control instruction sent by a user terminal, and the task control instruction is generated by a user based on the operation of an operation interface of the user terminal;
an instruction analysis module: the main robot is used for analyzing the received task control command to obtain the task quantity, the task starting time, the task finishing time and the task implementation position contained in the task control command;
a confirmation module: the slave robot is used for determining whether the master robot needs to assist in completing tasks or not based on the task quantity, the task starting time and the task completing time which are contained in the task control command;
an obtaining module: the method comprises the steps that if the slave robots need to assist to complete tasks, the master robot acquires the number of the slave robots needing to assist and corresponding IDs in a local area network;
an instruction sending module: the slave robot is used for sending the task coordination instruction to the corresponding ID based on the local area network by the master robot;
a response module: and the slave robots used for the corresponding IDs respond to the task control instruction to complete multi-robot cooperative control.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111489082A (en) * | 2020-04-10 | 2020-08-04 | 北京洛必德科技有限公司 | Robot cooperative working method and system |
| CN111660285A (en) * | 2020-06-30 | 2020-09-15 | 佛山科学技术学院 | Multi-robot cooperative control method, system, equipment and storage medium |
| CN111866752A (en) * | 2020-05-12 | 2020-10-30 | 顺德职业技术学院 | Intelligent cooperative operation method and system among multiple robots |
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