CN107491049B - Multi-equipment cooperative operation method and cooperative operation device - Google Patents
Multi-equipment cooperative operation method and cooperative operation device Download PDFInfo
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- CN107491049B CN107491049B CN201710754637.3A CN201710754637A CN107491049B CN 107491049 B CN107491049 B CN 107491049B CN 201710754637 A CN201710754637 A CN 201710754637A CN 107491049 B CN107491049 B CN 107491049B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a multi-equipment cooperative operation method, which realizes the division and cooperation of a plurality of equipment to the whole task by optimizing the cooperative mode among the equipment, effectively avoids the situation of repeated operation on certain areas when the plurality of equipment cooperate together, and greatly improves the efficiency of the multi-equipment cooperative operation; meanwhile, a cooperative operation device is also provided for executing the method, and the task can be efficiently processed in a division manner.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a multi-device cooperative operation method and a cooperative operation device.
Background
With the development of automation and intelligent control technologies, more and more work robots are beginning to be applied to some traditional works. In the conventional work, because the workload is large, in order to improve the work efficiency, a plurality of same devices are required to be adopted to work simultaneously, so that the completion time of the whole workload is reduced. However, in the prior art, when a plurality of devices are used to work together, due to lack of communication among the devices, the devices are in a situation of fighting each other, so that the phenomenon of repeated work is inevitable, resource waste is caused, and the overall work efficiency is reduced.
Taking the floor sweeping machine as an example, in the prior art, the floor sweeping machine is independent operation, and if a plurality of floor sweeping machines are adopted to clean a larger cleaning space, because communication does not exist between the floor sweeping machines, the phenomenon of repeated sweeping is difficult to avoid when the floor sweeping machines clean, and the working efficiency is greatly reduced.
Disclosure of Invention
In view of the above, the present invention provides a multi-device cooperative operation method and a cooperative operation apparatus, which can implement division and cooperation of multiple devices and avoid repeated operation of the operating devices.
In view of the above object, the present invention provides a multi-device cooperative work method, which is applied to a work device as a slave, including:
scanning the working area and sending a scanning result to the control end;
and receiving a working path from the control end, executing a working task according to the working path, generating a working record and sending the working record to the control end.
Optionally, the slave end becomes idle operation equipment after completing the operation task, receives a compensation operation path from the control end or the redistribution control end, executes a compensatory operation task according to the compensation operation path, generates an operation record, and sends the operation record to the control end or the redistribution control end.
Optionally, when the slave end becomes the first idle operation device, the slave end is converted into a redistribution control end, collects the operation records of all the operation devices, compares the operation records with the work area map, and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the redistribution control end takes the unfinished area as a new working area, the new working area is redistributed and distributed to each idle working device, a compensation working path for sending each idle working device is generated and distributed, and a working record of each idle working device is obtained.
Optionally, the job record comprises a predicted completion time of the corresponding job task; when the driven end becomes the first idle operation equipment, the driven end is converted into a redistribution control end, the operation records of all the operation equipment are collected and compared with the working area map, and whether an unfinished area exists is checked;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the redistribution control end takes the area with the estimated finish time larger than a preset threshold value in the unfinished area as a new working area, the new working area is subdivided and distributed to each idle working device, a compensation working path for sending each idle working device is generated and distributed, and a working record of each idle working device is obtained.
Optionally, the redistribution control end redistributes and distributes the new work area to preset idle work equipment for participating in compensatory work tasks.
Optionally, when the slave end becomes the first idle operation device, the slave end is converted into a redistribution control end; then, when an operating device becomes an idle operating device, the redistribution control end collects the operating records of all operating devices, compares the operating records with the working area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if an unfinished area exists, the redistribution control end takes the unfinished area as a new working area, distributes the new working area to all the idle operation equipment, adjusts and dispatches a working path of the idle operation equipment which is executing compensatory working tasks, generates and dispatches a working path of the idle operation equipment which is newly changed into the idle operation equipment, and acquires a working record of each idle operation equipment.
Optionally, the reallocation client further performs: and receiving a compensation working path from the redistribution control end, executing a compensatory working task according to the compensation working path, generating a working record and sending the working record to the redistribution control end.
In another aspect of the present invention, a multi-device cooperative operation method is further provided, which is applied to a control end or an operation device serving as the control end, and includes:
receiving and summarizing scanning results of all operating equipment, and constructing a work area map;
determining the position of each operating device;
dividing a work area and generating a work path of each operation device;
and respectively sending the corresponding working paths to the working devices and receiving the working records of the working devices.
Optionally, after at least one of the operating devices completes the initial task assigned to the operating device and becomes an idle operating device, the control end collects the operating records of each operating device, compares the operating records with the working area map, and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
and if the unfinished area exists, the control end takes the unfinished area as a new working area, re-divides the new working area and distributes the new working area to all idle working equipment, generates and distributes a compensation working path of each idle working equipment, and acquires a working record of each idle working equipment.
Optionally, the job record includes a predicted completion time of the corresponding job task; after at least one operating device finishes the initial operating task distributed by the operating device and becomes idle operating device, the control end collects the operating records of each operating device, compares the operating records with the working area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the control end takes the area, with the estimated finish time larger than a preset threshold value, in the unfinished area as a new working area, re-divides the new working area and distributes the new working area to all idle working equipment, generates and distributes a compensation working path for sending each idle working equipment, and acquires a working record of each idle working equipment.
Optionally, the control end repartitions and allocates the new work area to the preset idle work devices for participating in compensatory work tasks.
Optionally, when the operating equipment completes the initial task assigned to the operating equipment and becomes idle operating equipment, the control end collects the operating records of the operating equipment, compares the operating records with the working area map, and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the control end takes the unfinished area as a new working area, distributes the new working area to all idle working equipment, adjusts and dispatches the working path of the idle working equipment which is executing compensatory working tasks, generates and dispatches the working path of the limited working equipment which is newly used as the idle working equipment, and acquires the working record of each idle working equipment.
Optionally, the determining, by the control end, the position of each piece of work equipment includes: the control end collects the scanning results of the operating equipment, compares the scanning results of any operating equipment with the scanning results of other operating equipment, and determines the position of the operating equipment.
Optionally, when the multi-device cooperative work method is applied to a work device serving as a control end, the method further includes:
scanning the working area and sending a scanning result to the control end;
and receiving a working path from the control end or the redistribution control end, executing a working task according to the working path, generating a working record and sending the working record to the control end or the redistribution control end.
In another aspect of the present invention, a multi-device cooperative operation method is further provided, which includes the multi-device cooperative operation methods described in the foregoing two aspects.
Optionally, when the job device fails to continue to execute the job task during the job, the job device stops executing the job, sends a fault signal, and exits the work area.
In still another aspect of the present invention, there is provided a cooperative operation apparatus including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the processor to enable the processor to perform a method of a multi-device east-sener job provided by the present invention.
From the above, the multi-device cooperative operation method provided by the invention can efficiently realize cooperative operation of a plurality of operation devices to the same working area, and enables the plurality of operation devices to complete operation of the whole area without repetition by enabling different operation devices to respectively execute operation tasks of different sub-areas, thereby effectively avoiding the problem of repeated operation when the plurality of devices work simultaneously and improving the overall working efficiency of the multi-device operation system;
in addition, the cooperative operation device provided by the embodiment of the invention realizes the division work cooperation of the whole task by working together with a plurality of cooperative operation devices, one or more cooperative operation devices are implemented as a control end, and the rest cooperative operation devices are implemented as driven ends, so that the situation that repeated operation is carried out on certain areas when a plurality of devices cooperate together is effectively avoided, and the efficiency of the multi-device cooperative operation is greatly improved. Meanwhile, the cooperative work control device implemented as the control end and the cooperative work device implemented as the driven end can be mutually converted under certain conditions, flexible assignment of tasks is achieved, reliability of task assignment is guaranteed, and the overall utilization rate and the working efficiency of all the working equipment are improved.
Drawings
Fig. 1 is a schematic flowchart of a multi-device cooperative operation method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a slave cooperative apparatus according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a multi-device cooperative operation method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a preferred flow of a multi-device cooperative operation method according to an embodiment of the present invention
FIG. 5 is a schematic structural diagram of a cooperative operation controlling apparatus according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware structure of a cooperative apparatus according to an embodiment of the present invention;
fig. 7 is a schematic bottom structure diagram of an intelligent sweeper provided in the embodiment of the present invention;
fig. 8 is a schematic view of an operation flow of the intelligent sweeper provided by the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
As shown in fig. 1, a schematic flowchart of a multi-device cooperative work method provided in an embodiment of the present invention is applied to a work device as a slave, and includes:
Optionally, the scanning is implemented as an edgewise scanning, that is, each of the working devices scans along the edge of the working area to determine the overall contour of the working area, so that the range of the working area can be quickly and simply determined.
optionally, the job record includes a job path and/or work environment data, the job path is a path track actually run by the job device when executing a job task, and when the job device executes a job, the work environment data is also acquired, recorded in the job record, and sent to the control end, so as to implement real-time monitoring of the work environment.
Optionally, the control end is implemented as a control center without the function of the working device, such as a control platform, or one or more of the working devices are set as a control end with functions of controlling, planning, and task assigning.
Optionally, the job task of each job device includes an initial job task and a compensatory job task, where the initial job task is a job task corresponding to the job path received by each job device in step 102, and the compensatory job task is a job task assigned to a job device that has previously completed the initial job task to help other job devices to jointly complete remaining job tasks, so as to improve the overall work efficiency of all job devices;
optionally, the multi-device cooperative work method further includes: and the slave end becomes idle operation equipment after finishing the initial operation task, receives a compensation working path from the control end or the redistribution control end, executes a compensatory operation task according to the compensation working path, generates an operation record and sends the operation record to the control end or the redistribution control end.
Alternatively, the allocation of compensatory work tasks to idle work devices may be implemented as: when the driven end becomes the first idle operation equipment, the driven end is converted into a redistribution control end and is used for distributing compensatory operation tasks for the idle operation equipment, namely the first driven end completing the distributed initial operation task is converted into a redistribution control end, and the redistribution control end summarizes operation records of all the operation equipment, compares the operation records with the working area map and checks whether an uncompleted area exists or not;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if an unfinished area exists, the redistribution control end takes the unfinished area as a new working area, the new working area is redistributed and distributed to each idle working device, a compensation working path for sending each idle working device is generated and distributed, and a working record of each idle working device is obtained;
by the method, the work of distributing the compensatory work tasks can be borne by the first slave end which becomes idle work equipment, so that the task distribution pressure is reduced, and meanwhile, the idle work equipment can help the work equipment which does not finish the initial work task to jointly execute the rest work tasks, so that the overall work efficiency is improved.
Optionally, an alternative implementation manner of allocating a compensatory work task to an idle work device is further provided in the embodiments of the present invention: when each operating device generates an operating record, the predicted completion time of the task is generated at the same time, so that the operating progress of the corresponding operating device is determined; when the driven end becomes the first idle operation equipment, the driven end is converted into a redistribution control end, the operation records of all the operation equipment are collected and compared with the working area map, and whether an unfinished area exists is checked;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the redistribution control end takes the area with the estimated finish time larger than a preset threshold value in the unfinished area as a new working area, the new working area is subdivided and distributed to idle working equipment, a compensation working path for sending each idle working equipment is generated and distributed, and a working record of each idle working equipment is obtained.
Through the implementation mode, when the redistribution control end distributes the compensatory work tasks, the work equipment which is about to complete the initial work task and the work equipment which needs to complete the initial work task for a long time can be distinguished, so that the idle work equipment is dispatched to help the work equipment which needs to complete the initial task for a long time, and the pertinence of the compensatory work task distribution is enhanced.
Optionally, in the two compensatory task assignment manners, the reallocation control end may assign compensatory tasks to all idle operation devices; the reallocation control end only divides the new working area again and allocates the new working area to the preset idle working equipment for participating in the compensatory working tasks, and the preset limiting working equipment for participating in the compensatory working tasks can be specially set, so that the resource allocation among the working equipment is optimized and the overall efficiency is improved compared with the common working equipment, such as high working efficiency, long endurance time and the like.
Optionally, an embodiment of the present invention further provides another alternative implementation manner for allocating a compensatory work task to an idle work device: when the driven end becomes the first idle operation equipment, the driven end is converted into a redistribution control end; then, when a slave end becomes idle operation equipment, the redistribution control end collects the operation records of all the operation equipment, compares the operation records with the working area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if an unfinished area exists, the redistribution control end takes the unfinished area as a new working area, distributes the new working area to all the idle operation equipment, adjusts and dispatches a working path of the idle operation equipment which is executing compensatory working tasks, generates and dispatches a working path of the idle operation equipment which is newly changed into the idle operation equipment, and acquires a working record of each idle operation equipment;
by the implementation mode, when the operation equipment finishes the initial operation task to become the idle operation equipment, the redistribution control end dynamically adjusts the compensatory operation tasks of the rest idle operation equipment which is executing the compensatory operation task, properly reduces and adjusts the task quantity of the idle operation equipment which is executing the compensatory operation task, distributes the homogenized compensatory operation task to the operation equipment which is newly changed to be the idle operation equipment, so that each idle operation equipment can participate in the compensatory operation task, the task quantity of the compensatory operation task can be dynamically adjusted according to the number of the operation equipment which actually participates in the compensatory operation task, ensures that any idle operation equipment can not be distributed to execute another additional compensatory operation task after the execution of one compensatory operation task is finished, and all the compensatory operation tasks are synchronously finished, the overall operation efficiency of all the operation equipment is improved.
Optionally, when performing compensatory work task allocation, the reallocation control end also performs compensatory work tasks as idle work devices, that is, the reallocation client further performs: and receiving a compensation working path from the redistribution control end, executing a compensatory working task according to the compensation working path, generating a working record and sending the working record to the redistribution control end.
As can be seen from the above description, the multi-device cooperative operation method provided in the embodiment of the present invention can efficiently implement cooperative operation of multiple operation devices on the same working area, and enable different operation devices to respectively execute operation tasks of different sub-areas, so that the multiple operation devices can complete operation on the whole area without repetition, thereby effectively avoiding the problem of repeated operation when multiple devices work simultaneously, and improving the overall working efficiency of the multi-device operation system.
Specifically, the invention provides a slave cooperative work apparatus, which is used as a slave to execute the multi-device cooperative work method applied to the slave according to the embodiment of the invention, and realize the function of the slave. As shown in fig. 2, a schematic structural diagram of a slave cooperative work apparatus according to an embodiment of the present invention is provided, where the slave cooperative work apparatus includes:
a power module 1001 for supplying power required for operation to other functional modules in the slave cooperative work apparatus, wherein the power module may be implemented as a battery, a charging device, an engine or other devices with similar functions;
a communication module 1002, configured to receive a signal from the control module 1003, send the signal to the outside, and receive the signal from the outside and transmit the signal to the control module 1003; meanwhile, communication connection is established between different driven cooperative work devices and between each driven cooperative work device and a control end through a communication module 1002;
a control module 1003, configured to process the received or detected information and send a control instruction to the other functional modules;
optionally, when a certain slave cooperative work apparatus is converted into the redistribution control end, the control module 1003 of the slave cooperative work apparatus is further configured to perform planning distribution of compensatory work tasks;
a walking module 1004, configured to receive and execute a walking instruction sent by the control module 1003, so that the slave cooperative work apparatus can move to a specified position according to the instruction, thereby executing a work task;
a job module 1005, configured to receive and execute a job instruction of the control module 1003, and execute a job task;
the detection module 1006 is configured to detect a parameter to be detected of the slave cooperative work apparatus, and send the parameter to the control module 1003;
optionally, the detection module 1006 includes a gravity detection unit, a power detection unit, an obstacle detection unit, a collision detection unit, a balance detection unit, a path detection unit, and a detection unit such as a working state detection unit and the like respectively disposed on each functional module and connected to the detection module 1006, for detecting parameters that are necessary to be obtained by the driven cooperative work apparatus during working, such as a working area profile, necessary working environment parameters, a working state of each functional module, a traveling path, and the like, so that the driven cooperative work apparatus can detect necessary working environment parameters and its own working state during working.
Optionally, the parameter to be measured includes: the contour of the working area, the working state of each functional module, necessary working environment parameters, a traveling path and other parameters which are necessarily acquired by the driven cooperative work device during working.
Optionally, the slave cooperative work apparatus further includes an alarm module, and when the slave cooperative work apparatus cannot continue to execute the work task due to a fault or insufficient power, the slave cooperative work apparatus sends out alarm information through the alarm module and exits the work area; optionally, the driven cooperative work device returns to the maintenance station for maintenance after exiting the working area.
Specifically, a plurality of slave cooperative work apparatuses are used as work devices to collectively execute the multi-device cooperative work method provided by the embodiment of the present invention.
From the above, it can be seen that the slave cooperative operation device provided by the embodiment of the present invention implements work division and cooperation on the whole task by means of the common operation of multiple operation devices, thereby effectively avoiding the situation of repeated operation on some areas when multiple devices cooperate together, and greatly improving the efficiency of the common operation of multiple devices.
As shown in fig. 3, a schematic flowchart of a multi-device cooperative work method provided in an embodiment of the present invention is applied to a work device serving as a control end or a control end, and includes:
specifically, the positions of the working devices include relative positions between the working devices, and positions of the working devices on the work area map;
preferably, the working path of each of the working devices is set as: enabling the working paths of all the working devices to completely cover the working area map, wherein the working paths of any two working devices are not overlapped;
Optionally, the job record includes a job path and/or work environment data, the job path is a path track actually run by the job device when executing a job task, and when the job device executes a job, the work environment data is also acquired, recorded in the job record, and sent to the control end, so as to implement real-time monitoring of the work environment.
Optionally, the job task of each of the job devices includes an initial job task and a compensatory job task, where the initial job task is a job task corresponding to the work path sent by the control end in step 204, and the compensatory job task is a job task assigned to a job device that has previously completed the initial job task to help other job devices to jointly complete remaining job tasks;
optionally, as shown in fig. 4, the multi-device cooperative work method provided in the embodiment of the present invention further includes a step 205 for allocating compensatory work tasks:
the control end collects the operation records of the operation equipment, compares the operation records with the work area map and checks whether an unfinished area exists or not;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
and if the unfinished area exists, the control end takes the unfinished area as a new working area, re-divides the new working area and distributes the new working area to all idle working equipment, generates and distributes a compensation working path of each idle working equipment, and acquires a working record of each idle working equipment.
Through the steps, the idle operation equipment can help the operation equipment which does not finish the initial operation task to jointly execute the residual operation task, and the whole operation efficiency is improved.
Optionally, step 205 may alternatively be implemented as: when each operating device generates an operating record, the predicted completion time of the task is generated at the same time;
the job record comprises the predicted completion time of the corresponding job task; after at least one operating device finishes the initial operating task distributed by the operating device and becomes idle operating device, the control end collects the operating records of each operating device, compares the operating records with the working area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the control end takes the area, with the estimated finish time larger than a preset threshold value, in the unfinished area as a new working area, re-divides the new working area and distributes the new working area to all idle working equipment, generates and distributes a compensation working path for sending each idle working equipment, and acquires a working record of each idle working equipment.
Through the implementation mode, when the control end distributes the compensatory work tasks, the control end can distinguish the work equipment which is about to complete the initial work task and the work equipment which needs a long time to complete the initial work task, so that the idle work equipment is dispatched to help the work equipment which needs a long time to complete the initial task, and the pertinence of the compensatory work task distribution is enhanced.
Generally, because the difficulty, area or other conditions of the work area are not necessarily the same, and the time required for each of the operating devices to complete the task assigned to itself is not necessarily the same, it is inevitable that when some operating devices complete their tasks assigned to themselves, other operating devices still do not complete their tasks assigned to themselves, and therefore, by adding step 205, the operating device that completes the task first can help the operating devices that do not complete the task to complete the remaining tasks together, thereby effectively improving the utilization rate and work efficiency of all operating devices; specifically, a part of the operating devices may be configured to execute the compensatory task, that is, only a preset part of the operating devices participate in the compensatory task after becoming idle operating devices, or one or more of the operating devices that have completed an initial task first and become idle operating devices are selected to execute the compensatory task, and the rest of the operating devices do not participate in the compensatory task even if becoming idle operating devices; it is also possible to arrange that all the working devices perform such compensatory tasks after they have completed their assigned tasks.
Optionally, due to the foregoing reasons, the schedules of different devices for completing the task are not consistent, which may possibly result in inconsistent time when different devices join the compensatory task, and result in adding the compensatory task before and after different devices; thus, step 205 may also be alternatively implemented as:
when the operation equipment finishes the initial operation task distributed by the operation equipment to become idle operation equipment, the control end collects the operation records of the operation equipment, compares the operation records with the work area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the control end takes the unfinished area as a new working area, distributes the new working area to all idle working equipment, adjusts and dispatches the working path of the idle working equipment which is executing compensatory working tasks, generates and dispatches the working path of the limited working equipment which is newly used as the idle working equipment, and acquires the working record of each idle working equipment.
That is, when a new working device which has completed its initial assignment is added as an idle working device to participate in the compensatory working task, the control terminal dynamically adjusts the compensatory working tasks of the remaining idle working devices which are executing the compensatory working tasks, appropriately reduces and adjusts the task amount of the idle working devices which are executing the compensatory working tasks, and distributes the evenly compensated working tasks to the working devices which are newly turned into the idle working devices, so that each idle working device can participate in the compensatory working tasks, and the task amount of the compensatory working tasks can be dynamically adjusted according to the number of the working devices actually participating in the compensatory working tasks, thereby ensuring that any idle working device cannot be assigned to execute another additional compensatory working task after executing one compensatory working task, and all the compensatory working tasks are completed synchronously, the overall operation efficiency of all the operation equipment is improved.
Alternatively, when the control terminal is implemented as a job device as a control terminal, since the control terminal has a job function as a job device, the control terminal simultaneously performs:
scanning the working area and sending a scanning result to the control end;
and receiving a working path from the control end, executing a working task according to the working path, generating a working record and sending the working record to the control end.
Specifically, an embodiment of the present invention provides a device for controlling cooperative work, configured to be used as a control end to execute the method for multi-device cooperative work applied to the control end, so as to implement a function of the control end; as shown in fig. 5, a schematic structural diagram of a control cooperative work apparatus according to an embodiment of the present invention is provided, where the control cooperative work apparatus includes:
a power module 1101, configured to provide power required for operation for each other functional module in the control cooperative work apparatus, where the power module may be implemented as a battery, a charging device, an engine, or other devices with similar functions;
a communication module 1102, configured to receive a signal from the control module 1103, send the signal to the outside, and receive the signal from the outside and transmit the signal to the control module 1103; meanwhile, communication connections are established between different control cooperative work devices and between the control cooperative work devices and other work equipment through a communication module 1102;
a control module 1103 for processing the received or detected information and sending control instructions to other functional modules; and, further, for performing a planning assignment of compensatory job tasks;
a walking module 1104, configured to receive and execute a walking instruction sent by the control module 1103, so that the control cooperative work apparatus can move to a specified position according to the instruction, thereby executing a work task;
a job module 1105, configured to receive and execute a job instruction of the control module 1103, and execute a job task;
a detection module 1106, configured to detect a parameter to be detected of the control cooperative operation apparatus, and send the parameter to the control module 1103;
optionally, the detection module 1106 includes a gravity detection unit, a power detection unit, an obstacle detection unit, a collision detection unit, a balance detection unit, a path detection unit, and a working state detection unit and the like respectively disposed on each functional module and connected to the detection module 1106, for detecting a working area profile, a necessary working environment parameter, a working state of each functional module, a traveling path and the like, so that the control cooperative work apparatus can detect a necessary working environment parameter and its own working state during working.
Optionally, the parameter to be measured includes: and the outline of the working area, the working state of each functional module, necessary working environment parameters, a traveling path and other parameters which are necessary to be acquired during the working of the control cooperative work device.
Optionally, the control cooperative work apparatus further includes an alarm module, and when the control cooperative work apparatus cannot continue to execute the work task due to a fault or insufficient power, the control cooperative work apparatus sends out alarm information through the alarm module and exits the work area; optionally, the control cooperative work device returns to the maintenance station for maintenance after exiting the working area.
Specifically, a plurality of the control cooperative work apparatuses are used as work devices to collectively execute the multi-device cooperative work method provided by the embodiment of the present invention.
As can be seen from the above, the multi-device cooperative operation method provided by the embodiment of the present invention can efficiently implement cooperative operation of multiple operation devices on the same working area, and by adopting the sub-area allocation and the working line planning, the multiple operation devices can complete operation on the whole area without repetition, thereby effectively avoiding the problem of repeated operation when the multiple devices work simultaneously, improving the overall working efficiency of the multi-device operation system, and meanwhile, adding a mechanism of compensatory operation tasks, so that the operation device that completes an operation task first can help the operation device that does not complete its own task to complete the operation task together, thereby effectively improving the utilization rate of the operation device and improving the overall efficiency of all the operation devices.
Alternatively, the slave cooperative working apparatus and the control cooperative working apparatus may preferably be implemented as the same apparatus, that is, the embodiment of the present invention provides a cooperative working apparatus capable of executing the multi-device cooperative working method provided by the embodiment of the present invention both as a slave side only and a control side only, and also as a control side and a slave side at the same time.
Specifically, one or more cooperative work apparatuses as a control end and one or more cooperative work apparatuses as work devices collectively execute the multi-device cooperative work method provided by the embodiment of the present invention.
Alternatively, in the embodiment of the present invention, the cooperative working apparatus implemented as the control side and the cooperative working apparatus implemented as the slave side may be mutually converted under certain conditions. That is, the control end may not execute the function of planning and distributing job tasks under certain conditions, and convert into the slave end and only serve as the slave end to execute job tasks; the slave end can start to execute the function of planning and distributing the job task under certain conditions, and the slave end is changed into the control end to control other job equipment. For example, step 205 of the multi-device cooperative operation method provided by the embodiment of the present invention may be implemented as:
after at least one operating device finishes the operation task of the sub-area allocated to the operating device to become an idle operating device, the operating device which finishes the operation task of the sub-area allocated to the operating device firstly becomes a re-allocation control end, the operation records of all the operating devices are collected and compared with the working area map, whether an unfinished area exists or not is checked, and the original control end does not execute task allocation any more; if the unfinished area does not exist, the work is finished; if an unfinished area exists, the redistribution control end takes the unfinished area as a new working area, the new working area is distributed to each idle working device, a working path of each idle working device is generated, and the idle working device executes a working task according to the working path.
Through the design, when the control end cannot execute the control function due to high occupancy rate, faults and other reasons, each slave end can be converted into the control end to realize task allocation, so that the reliability of task allocation is ensured, and the efficiency of working of a plurality of operating devices as an integral system is improved.
Alternatively, the control end may be implemented as a control platform having no function of executing a job and only having a function of planning and allocating a job task, and only execute steps 201 to 205 in the foregoing embodiment of the present invention to collectively control all the cooperative work apparatuses.
As can be seen from the foregoing, the cooperative work apparatus provided in the embodiment of the present invention implements division work on an entire task by working together with multiple cooperative work apparatuses, and implements one or more of the cooperative work apparatuses as a control end and the remaining cooperative work apparatuses as a slave end, thereby effectively avoiding a situation where multiple devices perform repeated work on some areas when cooperating together, and greatly improving efficiency of multi-device cooperative work. Meanwhile, the cooperative work control device implemented as the control end and the cooperative work device implemented as the driven end can be mutually converted under certain conditions, flexible assignment of tasks is achieved, reliability of task assignment is guaranteed, and the overall utilization rate and the working efficiency of all the working equipment are improved.
Further, in another aspect of the present invention, an embodiment of a cooperative work apparatus for executing the multi-device cooperative work method is provided. Fig. 6 is a schematic hardware configuration diagram of an embodiment of a cooperative operation apparatus for executing the multi-device cooperative operation method according to the embodiment of the present invention.
The cooperative work apparatus includes:
one or more processors 301 and a memory 302, with one processor 301 being illustrated in fig. 6.
The apparatus for executing the multi-device cooperative work method may further include: an input device 303 and an output device 304.
The processor 301, the memory 302, the input device 303 and the output device 304 may be connected by a bus or other means, and fig. 6 illustrates an example of a connection by a bus.
The memory 302 is used as a non-volatile computer-readable storage medium and may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the multi-device cooperative work method in the embodiment of the present application (for example, the power module 1001, the communication module 1002, the control module 1003, the walking module 1004, the work module 1005, and the detection module 1006 shown in fig. 2, and/or the power module 1101, the communication module 1102, the control module 1103, the walking module 1104, the work module 1105, and the detection module 1106 shown in fig. 5). The processor 301 executes various functional applications and data processing of the server by running the nonvolatile software program, instructions and modules stored in the memory 302, that is, the embodiment of the present invention provides a cooperative work apparatus, and by selectively running the nonvolatile software program, instructions and modules stored in the memory 302, the multi-device cooperative work method provided by the embodiment of the present invention can be executed only as a slave, only as a control, or both as a control and a slave.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the alert identification assigning apparatus, and the like. Further, the memory 302 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 302 may optionally include memory located remotely from processor 301, which may be connected to the member user behavior monitoring device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 303 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the cooperative working apparatus. The output means 304 may comprise a display device such as a display screen.
The one or more modules are stored in the memory 302 and when executed by the one or more processors 301, perform the multi-device cooperative work method in any of the above-described method embodiments. The technical effect of the embodiment of the cooperative work device executing the multi-device cooperative work method is the same as or similar to that of any method embodiment.
In another embodiment of the present invention, the cooperative operation apparatus provided in the embodiment of the present invention is implemented as an intelligent sweeper, and the multi-device cooperative operation method provided in the embodiment of the present invention is implemented, and a plurality of intelligent sweepers are adopted to jointly execute a sweeping task.
As shown in fig. 7, which is a schematic bottom structure diagram of an intelligent sweeper provided in an embodiment of the present invention, the intelligent sweeper includes a cleaning module 2001, a walking module 2002, a power module 2003, a detection module 2004, a control module 2005, and a communication module 2006;
among them, the power module 2003, the detection module 2004, the control module 2005 and the communication module 2006 are all internal modules, which are not shown in fig. 7; the cleaning module 2001 includes a sweeper brush 2007, a roller brush 2008, a dust box 2009, and a fan to generate suction, which is typically disposed inside the dust box 9; the traveling module 2002 includes a driving wheel 2010 and a balance wheel 2011, and specifically, for steering flexibility, a pair of driving wheels 2010 are coaxially provided, and the balance wheel 2011 is implemented as a universal wheel;
the cleaning module 2001 and the walking module 2002 are electrically connected with the control module 2005 and controlled by the instruction sent by the control module 2005; the power module 2003 provides electric energy for other functional modules; the detection module 2004 is responsible for monitoring the status and position of the intelligent sweeper and transmitting the information to the control module 2005. The communication module 2006 is responsible for receiving and sending signals of the control module 2005 and establishing communication connection with other intelligent sweeping machines;
the power module 2003 includes a battery for providing power, and a charging device, the battery being disposed inside the intelligent sweeper.
The detection module 2004 includes a drop sensor 12 as shown in the figure, and a collision sensor, a gravity sensor, a gyroscope, a battery level detection unit, a dust concentration sensor, an obstacle detection sensor, a charging signal detection, etc., which are difficult or impossible to show in fig. 7, and are disposed at the side or inside of the intelligent sweeper.
The communication module 2006 includes a signal receiving device and a signal transmitting device. The intelligent sweeper is used for sending the current state, the position information and the like of the intelligent sweeper to other intelligent sweepers and/or control terminals in the same space.
The control module 2005 is configured to receive various detection signals of the detection module 2004, determine information such as a current position and a working state of the intelligent sweeper, and send instructions to the walking module 2002, the cleaning module 2001, the power module 2003, and the communication module 2006 as needed.
Specifically, the control end is implemented as: and setting a central control platform capable of uniformly controlling all the working equipment as the control end, and/or setting one or more of the plurality of working equipment as the control end to execute task distribution and control, and setting the rest of the working equipment as the slave end to execute the tasks distributed by the control end only.
In particular, when one of the intelligent floor sweepers serves as a control terminal, the control module 2005 is also used for executing task planning distribution.
Specifically, the intelligent sweeper provided by the embodiment of the invention can be used as the control end and the driven end to execute corresponding functions; the control end may be changed to the slave end under a certain condition, or the slave end may be changed to the control end under a certain condition.
As shown in fig. 8, which is a schematic view of an operation flow of an intelligent sweeper according to an embodiment of the present invention, after a plurality of intelligent sweepers enter a same space, the intelligent sweeper serving as a driven end executes the following steps shown in fig. 8 (a):
Meanwhile, in the embodiment of the present invention, the control end is implemented as one or more of all the intelligent sweeper machines, and the control end executes the following steps as shown in fig. 8 (b):
and 403, receiving the scanning results, summarizing the scanning results of the intelligent sweeper, establishing a cleaning map as the working area map, and determining an area to be cleaned, namely the overall outline of the working area.
And step 404, determining the position of each intelligent sweeper.
And 406, respectively sending the corresponding working paths to the intelligent sweeping machines, and acquiring the operation records of the intelligent sweeping machines.
Optionally, the intelligent sweeper serving as the control end in the embodiment of the present invention simultaneously performs step 401 and step 402, that is, simultaneously performs the corresponding function as the driven end.
In the cleaning process, the intelligent sweeper detects the working state of the intelligent sweeper constantly, such as the electric quantity of a battery, once the electric quantity is lower than a set value, a cleaning task is suspended, the current position is recorded, and the intelligent sweeper returns to a charging station for charging. And returning to the recording position to continuously complete the cleaning task after the charging is completed and the original work task is not completed.
After the technical scheme provided by the embodiment is adopted, when a certain intelligent sweeper is insufficient in electric quantity and is charging or fails to finish tasks continuously, for example, a dust box is full, a sweeper needs to be replaced and the like, the intelligent sweeper stops working and gives an alarm, and other intelligent sweepers can be helped to finish the remaining unfinished operation tasks after finishing the cleaning tasks of the intelligent sweeper.
Optionally, the position of the intelligent sweeper during driving is recorded by means of a gyroscope, a gravity sensor and the like, and the distance can also be calculated by a counter of the left driving wheel and the right driving wheel.
Optionally, the intelligent sweeper scans along the edge, and the distance along the edge is controlled by a distance measuring sensor on the side of the intelligent sweeper, wherein the distance measuring sensor generally adopts an infrared distance measuring sensor and/or an ultrasonic distance measuring sensor.
As can be seen from the above, the intelligent sweeper provided by the embodiment of the invention realizes the work division and cooperation of the whole task by means of the common work of a plurality of intelligent sweepers, effectively avoids the situation that repeated work is carried out on certain areas when a plurality of sweepers cooperate together, and greatly improves the efficiency of the sweeping work of the plurality of sweepers on the same area.
Those of ordinary skill in the art will understand that: the invention is not to be considered as limited to the specific embodiments thereof, but is to be understood as being modified in all respects, all changes and equivalents that come within the spirit and scope of the invention.
Claims (8)
1. A multi-device cooperative work method applied to a work device as a slave side, comprising:
scanning the working area and sending a scanning result to the control end;
receiving a working path from the control end, executing a working task according to the working path, generating a working record and sending the working record to the control end;
the job record comprises the predicted completion time of the corresponding job task;
when the driven end becomes the first idle operation equipment, the driven end is converted into a redistribution control end, the operation records of all the operation equipment are collected and compared with the working area map, and whether an unfinished area exists is checked;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if an unfinished area exists, the redistribution control end takes the area with the estimated finish time larger than a preset threshold value in the unfinished area as a new working area, the new working area is subdivided and distributed to each idle working device, a compensation working path for sending each idle working device is generated and distributed, and a working record of each idle working device is obtained;
or the like, or, alternatively,
when the driven end becomes the first idle operation equipment, the driven end is converted into a redistribution control end; then, when an operating device becomes an idle operating device, the redistribution control end collects the operating records of all operating devices, compares the operating records with the working area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if an unfinished area exists, the redistribution control end takes the unfinished area as a new working area, distributes the new working area to all the idle operation equipment, adjusts and dispatches a working path of the idle operation equipment which is executing compensatory working tasks, generates and dispatches a working path of the idle operation equipment which is newly changed into the idle operation equipment, and acquires a working record of each idle operation equipment.
2. The multi-device cooperative work method according to claim 1, wherein the slave side becomes an idle work device after completing the work task, receives a compensation work path from the control side or the redistribution control side, executes a compensatory work task according to the compensation work path, generates a work record, and transmits the work record to the control side or the redistribution control side.
3. A multi-device cooperative operation method is characterized in that the method is applied to a control end or operation equipment serving as the control end and comprises the following steps:
receiving and summarizing scanning results of all operating equipment, and constructing a work area map;
determining the position of each operating device;
dividing a work area and generating a work path of each operation device;
respectively sending corresponding working paths to each operating device and receiving operating records of each operating device;
the job record comprises the predicted completion time of the corresponding job task;
after at least one operating device finishes the initial operating task distributed by the operating device and becomes idle operating device, the control end collects the operating records of each operating device, compares the operating records with the working area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if an unfinished area exists, the control end takes the area, with the estimated finish time being larger than a preset threshold value, in the unfinished area as a new working area, re-divides the new working area and distributes the new working area to all idle working equipment, generates and distributes a compensation working path for sending each idle working equipment, and acquires a working record of each idle working equipment;
or the like, or, alternatively,
when the operation equipment finishes the initial operation task distributed by the operation equipment to become idle operation equipment, the control end collects the operation records of the operation equipment, compares the operation records with the work area map and checks whether an unfinished area exists;
if the unfinished area does not exist, judging that the work is finished, and finishing the work;
if the unfinished area exists, the control end takes the unfinished area as a new working area, distributes the new working area to all idle working equipment, adjusts and dispatches the working path of the idle working equipment which is executing the compensatory working task, generates and dispatches the working path of the idle working equipment which is newly changed into the idle working equipment, and acquires the working record of each idle working equipment.
4. The multi-device cooperative work method according to claim 3, wherein the control terminal repartitions and allocates the new work area to the idle work devices preset for participating in compensatory work tasks.
5. The multi-device cooperative work method according to any one of claims 3 to 4, when applied to a work device as a control side, further comprising:
scanning the working area and sending a scanning result to the control end;
and receiving a working path from the control end or the redistribution control end, executing a working task according to the working path, generating a working record and sending the working record to the control end or the redistribution control end.
6. A multi-device cooperative work method, characterized by comprising the method of claims 1-2 and/or claims 3-5.
7. The multi-device cooperative work method according to claim 6, wherein the work device stops executing the work, issues a failure signal, and exits the work area when the work task cannot be continuously executed during the work.
8. A cooperative work apparatus, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-2, and/or to perform the method of any one of claims 3-5, and/or to perform the method of any one of claims 6-7.
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| CN108762275B (en) * | 2018-06-05 | 2021-05-07 | 北京智行者科技有限公司 | Collaborative sweeping method |
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| CN108716201B (en) * | 2018-06-05 | 2020-08-07 | 北京智行者科技有限公司 | Collaborative sweeping method |
| CN108776479B (en) * | 2018-06-05 | 2021-05-07 | 北京智行者科技有限公司 | Collaborative sweeping operation method |
| CN108763571B (en) * | 2018-06-05 | 2021-02-05 | 北京智行者科技有限公司 | Operation map updating method |
| CN108762273B (en) * | 2018-06-05 | 2021-09-10 | 北京智行者科技有限公司 | Sweeping method |
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