CN101364110B - Cooperating work control method and system for robot of multiple degree of freedom - Google Patents
Cooperating work control method and system for robot of multiple degree of freedom Download PDFInfo
- Publication number
- CN101364110B CN101364110B CN2008102328138A CN200810232813A CN101364110B CN 101364110 B CN101364110 B CN 101364110B CN 2008102328138 A CN2008102328138 A CN 2008102328138A CN 200810232813 A CN200810232813 A CN 200810232813A CN 101364110 B CN101364110 B CN 101364110B
- Authority
- CN
- China
- Prior art keywords
- robot
- task
- control center
- news file
- work compound
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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]
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to an autonomous multi-robot collaboration control method which belongs to the automatic control field and aims to solve the problems that the multi-robot in the prior art can not realize the collaboration control in a real sense, has low efficiency and is not adaptable to the complex task. Based on a wireless sensor network, a control center establishes a collaboration task allocation plan for each robot according to the state and the position of a task object to be executed and the capability and the location of the robots, thereby achieving the effect of cooperative control of the multi-robot. Therefore, the robot can operate collaboratively under the unified allocation of the control center using the wireless sensor only, without occupying other network resources. The autonomous multi-robot collaboration control method ensures the collaboration of the multiple robots in the real sense within a wide range.
Description
Technical field
The present invention relates to automation field, relate in particular to a kind of Collaborative Control technology multirobot.
Background technology
Along with the maturation day by day of Robotics, the collaborative work in a big way of a plurality of autonomous mobile robots has become possibility.In order to realize the multirobot collaborative work, must carry out Collaborative Control to robot, so that task conflict does not take place in robot, increase work efficiency; And for robot provides locating information, so that robot can finish the work in the larger context.From domestic and international research situation, the multirobot cooperative control system is more, but all lays particular emphasis on the research of robot task distribution method, seldom relates to the research of multirobot Collaborative Control.More famous multirobot cooperative control system is that Parker L E. is at IEEE Transactions On Robotics and Automation, 1998,14 (2), p.220-240 " the ALLICANCE:an architecture for fault tolerant multi-robotcooperation " that delivers introduced the multirobot distributed frame ALLICANCE system of people such as Parker exploitation, this system utilizes the mathematical model of two keys: impatient and silent approvement, select corresponding behavior as activator switch, robot is by assessment performance realization behavior selection separately mutually, realize Task Distribution and reallocation, that is to say in robot it is to coordinate by the mode of " implicit expression communication ", the efficient that robot finishes the work is lower, can not adapt to the situation of complex task.In addition because system has only realized the multirobot modality for co-operation, do not relate to the robot location, the system that is to say is not robot Design Orientation method, robot can't realize the location, this system can't truly realize Collaborative Control, so this system can not be used for the Collaborative Control of multimachine device in a big way.
Summary of the invention
The present invention is directed in the prior art and can only realize the multirobot modality for co-operation, can not truly realize Collaborative Control, the efficient that robot finishes the work is lower, the defective that can not adapt to complex task, designed a kind ofly under the support of wireless sensor network, can carry out the method for Collaborative Control multirobot.Its purpose is to make robot only being equipped with wireless senser, does not take under the situation of other Internet resources, under control center's unified allocation of resources, realizes work compound.
Solving the problems of the technologies described above the technical scheme that is adopted is: make up multirobot work compound control system, this system comprises, control center, radio network gateway, be distributed in the wireless sensor network that a plurality of wireless sensor network nodes of operation field constitute, the robot that is equipped with wireless senser is distributed in operation field.Robot sends positioning request information to wireless sensor network, and wireless sensor node sends to robot with the positional information of oneself, and robot is according to the position of a plurality of wireless sensor nodes, and the method that adopts three limits to locate is determined the position of oneself.Control center is responsible for the Task Distribution of robot, set up the news file of task, and robot news file, ability, position according to state, position and the robot of task, each robot is carried out the work compound Task Distribution, work compound Task Distribution scheme adopts ant group algorithm, carries out centralized Task Distribution according to the principle of efficiency optimization.Radio network gateway links to each other with control center by Ethernet, the Task Distribution scheme of control center is sent to wireless sensor network in the mode of wireless signal, wireless sensor network is broadcast to robot with the Task Distribution scheme, and robot executes the task according to the task of distributing.
The present invention has designed a kind of under the support of wireless sensor network, control center is according to ability, the present position of state, position and the robot of pending task object, each robot is formulated work compound Task Distribution scheme, realize multirobot is carried out Collaborative Control.Make robot only be equipped with wireless senser, do not take under the situation of other Internet resources, under control center's unified allocation of resources, realize work compound.The present invention is used for truly realizing multirobot worker work compound in a big way.It is lower to overcome prior art multirobot work compound efficient, can not adapt to the situation of complex task.
Description of drawings
Fig. 1 is based on the multirobot work compound Task Distribution flow process of wireless sensor network
Embodiment
Multirobot work compound control system comprises, control center, radio network gateway, be distributed in the wireless sensor network that operation field is made of a plurality of wireless sensor network nodes, the robot that is equipped with wireless senser is distributed in operation field.Robot is according to the position of a plurality of wireless sensor nodes, adopt the method for location, three limits to position definite robot location, control center is responsible for the Task Distribution of robot, it carries out Task Distribution according to ability, the present position of state, position and the robot of pending task object to each robot work compound.Radio network gateway links to each other with control center by Ethernet, and the Task Distribution scheme of control center is broadcast to robot by wireless sensor network with the Task Distribution scheme, and robot executes the task according to pre-assigned task.Robot only is being equipped with wireless senser, does not take under the situation of other Internet resources, realizes work compound under control center's unified allocation of resources.
Now in conjunction with the accompanying drawings the implementation process of online Task Distribution is specifically described, Figure 1 shows that based on online Task Distribution of the multirobot of wireless sensor network and localization method process flow diagram.
The implementation method of many autonomous robots Collaborative Control is as follows:
1, sets up the news file of task and the news file of robot in control center, to each task unique identification is TID, the position TP that input is in advance executed the task, TP comprises reference position and target location, gather the quality TW of pending task object, the news file of setting up task thus is T={TID, TP, TW}.According to the unique identification rID of robot, the ability to work rC of robot, the current position r P of robot (this position adopts the method in the step 2 to determine), the news file of setting up robot is r={rID, rC, rP}.
2, control center determines the location coordinate information of robot by the wireless sensor network that is arranged in operation field, so that carry out reasonable Task Distribution.Robot sends the location confirmation solicited message to wireless sensor node after receiving the location confirmation order, wireless sensor node sends radiofrequency signal and ultrasonic signal to robot simultaneously after receiving this location confirmation solicited message, robot detects and receives above-mentioned signal, time of arrival according to radiofrequency signal that receives and ultrasonic signal, poor, the id information of sensor and the velocity of propagation of two kinds of signals were calculated the distance that arrives this sensor.If robot receives the velocity of propagation of certain sensor wireless radiofrequency signal and ultrasonic signal and is respectively c
rAnd c
u, the time that two kinds of signals that this sensor sends arrive robot is respectively T
RiAnd T
Ui, then control center's algoritic module call following formula calculator device people to sensor node apart from s
iFor:
s
i＝(T
ui-T
ri)c
rc
u/(c
r-c
u) (1)
Pass through said method, robot calculates the distance of itself and adjacent three sensors, robot is according to the distance of it and three sensors then, the position coordinates of three sensors that pre-deposit in the consults memory, adopt the method for three limits range finding to determine the self-position coordinate, and by wireless sensor network, robot sends to control center with the position coordinates of oneself, and the basic skills of location, three limits is as follows:
If the position of three sensors is respectively (x
1, y
1), (x
2, y
2) and (x
3, y
3), robot is respectively s apart from the distance of three sensors
1, s
2And s
3, then can set up following equation:
(x-x
1)
2+(y-y
1)
2＝s
1 2 (2)
(x-x
2)
2+(y-y
2)
2＝s
2 2 (3)
(x-x
3)
2+(y-y
3)
2＝s
3 2 (4)
X and y are respectively the horizontal ordinate of robot in the formula.Separate this three equation and can get robot location's coordinate.This position coordinates is deposited in the robot news file.
3, control center is according to position, the ability to work of robot, task location, the task quality of robot, adopt the off-line method for allocating tasks, as ant group algorithm, genetic algorithm, simulated annealing etc., principle according to efficiency optimization is carried out centralized Task Distribution, below only is that example is described method for allocating tasks with the ant group algorithm.
The basic thought of Task Distribution is a simulation ant foraging behavior, distributes which robot to carry out which task by one group of ant decision.This method is at first according to robot news file and mission bit stream archives, make up the information matrix of robot and task, make up ant group and storage and carry out one group of robot chained list of same task, a parameter of exploring new departure and the relative importance of utilizing existing experimental knowledge is set as weights, ant takes to explore at random or utilize the method that has knowledge according to predefined weights, according to pheromone concentration, visibility heuristic function decision Task Distribution scheme.Concrete steps are as follows:
Step 1: algorithm iteration number of times maxi is set, current algorithm iterations nc=0; Make up a n * m dimension pheromone concentration matrix p, wherein n is a number of tasks, and m is the machine number, and the plain concentration matrix element of initial information p (t, r)=p
0, this pheromone concentration matrix is used for the pheromone concentration between logger task and the robot, and (t r) is pheromone concentration between task t and the r of robot to p; Make up an ant group that na ant arranged; And making up n chained list, each chained list is used to store the one group of robot that carries out same task, chained list ct
iBe used for storing the t that executes the task
iRobot; Make up the deadline of an enough big parameter f t as task.
Step 2: define a unallocated collection R of robot, all robots are put into the unallocated collection R of robot; Select an ant to carry out the Task Distribution process in the ant group at random, this ant will select a robot to distribute as object.
Step 3: suppose that ant selected the r of robot, ant will determine the r of robot to be assigned with and carry out which task t, ant utilizes existing experimental knowledge exploit, pheromone concentration p (c between task c and the r of robot, r), and visibility heuristic function ζ (c, r), explore new departure explore, ant calls following formula and selects robot to remove the t that executes the task:
Wherein, ζ (c, r) given apart from the distance of task start position by following formula according to robot,
ζ(c，r)＝1/d(c，r) (6)
Wherein (c r) is the distance of the r of robot apart from task c start position to d.The visibility heuristic function shows the nearer task of ant chosen distance robot.
α (α〉0), β (β〉0) be respectively that pheromones inspires the factor and visibility to inspire the factor, be used to regulate the relative importance of pheromones and visibility.Parameter q is set as determine adopting institute's new departure of exploring and utilization to have the weights of experimental knowledge, q is the random number that is distributed between [0,1].q
0(0≤q
0≤ 1) is a parameter is explored the relative importance of new departure and the existing experimental knowledge of utilization in order to decision parameter.q
0More little expression ant might be made more at random and selecting.S is the stochastic variable of selecting according to formula (7), and this variable provides the probability that ant is selected task t.In brief, as q≤q
0, according to formula (5) selection task; Otherwise according to formula (7) selection task.
Wherein s ∈ T represents to belong to the task s of set of tasks T.
If ant selects to execute the task t, it will discharge certain pheromones between task t and the r of robot, and pheromone concentration is between task t and the r of robot so:
p(t，r)＝p(t，r)+p
rel (8)
P wherein
RelThe pheromone concentration that the expression ant discharges.
The r of robot is stored in the robot chained list of task t.
For the volatilization of analog information element, in the search mission allocative decision, according to the pheromone concentration between formula (9) modification task and the robot.
p(r，v)＝(1-ρ)p(r，v)+ρp
o (9)
Wherein ρ (0≤ρ≤1) is a parameter of the plain volatilization of analog information.
Step 4: the r of robot is deleted from R,, turn to step 3 if R ≠ Φ selects another robot at random from set R; Otherwise, show that all robots all are allocated for to execute the task, turn to step 8.
Step 5: at this moment, the chained list ct of robot
iThe robot of middle storage is assigned with this task of execution t exactly
iRobot, calculate the deadline of each task according to formula (10), and find out the deadline t of the longest task of deadline
MaxAs the deadline of all tasks.
Wherein v is the translational speed of robot.
If t
Max＜tf, ft=t
Max, record Task Distribution scheme at this moment.
Step 6:nc=nc+1; If nc＜maxi is reentered into all robots among the set R, select the another ant at random, empty the robot chained list, turn to step 3, the Task Distribution of a beginning new round.Otherwise allocation algorithm ends task.
This moment, the Task Distribution scheme of record was exactly final Task Distribution scheme.
4, control center sends to wireless sensor network by radio network gateway with the Task Distribution scheme, and wireless sensor network is broadcast to robot with task.
5, robot will be transported to the target location to the task of assigned address after receiving task, in the process of carrying out the carrying task, will position by wireless senser as required at any time, to realize task is transported to the purpose of assigned address.
The present invention carries out the Task Distribution scheduling according to ability, the position of state, position and the robot of pending task to each robot, and this system can be used for truly realizing Collaborative Control under the multimachine device working environment in a big way.
Claims (8)
1. the control method of autonomous robot work compound more than a kind is characterized in that, the robot of operation field is according to the radiofrequency signal of wireless network sensor emission and T time of arrival of ultrasonic signal
RiAnd T
UiAnd velocity of propagation c
rAnd c
u, call formula: s
i=(T
Ui-T
Ri) c
rc
u/ (c
r-c
u) calculate to arrive this sensor apart from s
iAccording to the distance of three sensors, the position coordinates of three sensors, determine the robot self-position, and its position sent to control center, control center sets up the news file of task, and robot news file, control center is according to the news file and the robot news file of pending task, principle according to efficiency optimization is carried out centralized Task Distribution, each robot is formulated work compound Task Distribution scheme, and control center is broadcast to robot by wireless sensor network with the Task Distribution scheme, and robot executes the task according to the Task Distribution scheme.
2. a kind of many autonomous robots work compound control method according to claim 1 is characterized in that, described work compound Task Distribution scheme adopts ant group algorithm.
3. a kind of many autonomous robots work compound control method according to claim 1 is characterized in that, sets up the news file T={TID of task, TP, TW} according to unique identification TID, the position TP of task, the quality TW of task of task; The news file of setting up robot according to the current position r P of the ability to work rC of the unique identification rID of robot, robot, robot is r={rID, rC, rP}.
4. a kind of many autonomous robots work compound control method according to claim 2 is characterized in that described ant group algorithm specifically comprises: according to robot news file and mission bit stream archives, make up the information matrix of robot and task; Make up ant group and storage and carry out one group of robot chained list of same task; The parameter exploring new departure and utilize the relative importance that has experimental knowledge is set as weights, according to weights, pheromone concentration, visibility heuristic function decision Task Distribution scheme.
5. a kind of many autonomous robots work compound control method according to claim 4 is characterized in that, determines pheromone concentration according to robot apart from the distance of task start position.
6. the control system of autonomous robot work compound more than a kind, this system comprises, a plurality of robots of control center, radio network gateway, wireless sensor network, outfit wireless senser, wireless sensor network is linked to each other with control center by Ethernet by radio network gateway, it is characterized in that robot is according to the radiofrequency signal of wireless network sensor emission and T time of arrival of ultrasonic signal
RiAnd T
UiAnd velocity of propagation c
rAnd c
u, call formula: s
i=(T
Ui-T
Ri) c
rc
u/ (c
r-c
u) calculate to arrive this sensor apart from s
iAccording to the distance of three sensors, the position coordinates of three sensors, determine the robot self-position, and its position sent to control center, control center sets up the news file of task, and set up the robot news file according to the robot location, news file, robot news file according to task carry out centralized Task Distribution according to the efficiency optimization principle, each robot is formulated work compound Task Distribution scheme, and the Task Distribution scheme being broadcast to robot by wireless sensor network, robot executes the task according to the Task Distribution scheme.
7. many autonomous robots work compound control system according to claim 6 is characterized in that, described work compound Task Distribution scheme adopts ant group algorithm.
8. many autonomous robots work compound control system according to claim 6 is characterized in that, control center sets up the news file T={TID of task, TP, TW} according to unique identification TID, the position TP of task, the quality TW of task of task; The news file of setting up robot according to the current position r P of the ability to work rC of the unique identification rID of robot, robot, robot is r={rID, rC, rP}.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102328138A CN101364110B (en) | 2008-09-28 | 2008-09-28 | Cooperating work control method and system for robot of multiple degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102328138A CN101364110B (en) | 2008-09-28 | 2008-09-28 | Cooperating work control method and system for robot of multiple degree of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101364110A CN101364110A (en) | 2009-02-11 |
| CN101364110B true CN101364110B (en) | 2010-08-18 |
Family
ID=40390507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102328138A Expired - Fee Related CN101364110B (en) | 2008-09-28 | 2008-09-28 | Cooperating work control method and system for robot of multiple degree of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101364110B (en) |
Families Citing this family (62)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101618543B (en) * | 2009-07-23 | 2011-07-06 | 重庆邮电大学 | Task allocation method of heterogeneous multi-robot system |
| CN101819439B (en) * | 2010-03-16 | 2011-12-28 | 清华大学 | Unmanned co-simulation platform control method and system under no-center environment |
| CN101945492B (en) * | 2010-08-09 | 2013-02-06 | 哈尔滨工程大学 | Clustering-based multi-robot task allocation method |
| CN102023571B (en) * | 2010-09-30 | 2012-05-09 | 哈尔滨工程大学 | Clustering-based multi-robot task distributing method for use in exploiting tasks |
| CN102122171B (en) * | 2010-12-28 | 2013-04-17 | 北京航空航天大学 | Multi-micronano detector networking joint demonstration verification system based on intelligent mobile robot |
| CN102662377B (en) * | 2012-05-17 | 2014-04-02 | 哈尔滨工业大学 | Formation system and formation method of multi-mobile robot based on wireless sensor network |
| CN103345246A (en) * | 2013-05-29 | 2013-10-09 | 西北农林科技大学 | Multi-robot system for real-time harvesting, transferring, drying and preserving of wheat |
| CN103529847A (en) * | 2013-10-22 | 2014-01-22 | 南京邮电大学 | Multi-robot pollution control method based on Voronoi diagrams |
| US10594983B2 (en) * | 2014-12-10 | 2020-03-17 | Robert Bosch Gmbh | Integrated camera awareness and wireless sensor system |
| CN105785985A (en) * | 2014-12-19 | 2016-07-20 | 青海汉拉信息科技股份有限公司 | Method for performing field control on clustered robots by using Chinese text |
| CN105759741A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Method for Chinese text remote control cluster robot |
| CN105785983A (en) * | 2014-12-19 | 2016-07-20 | 青海汉拉信息科技股份有限公司 | Chinese text remotely-controlled clustered robot system |
| CN105759798A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Person-independent foreign language voice on-site control cluster robot method |
| CN105785984A (en) * | 2014-12-19 | 2016-07-20 | 青海汉拉信息科技股份有限公司 | Method of performing field control on clustered robot by using Chinese speech |
| CN105759669A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Method for foreign natural language text remote control cluster robot |
| CN105759796A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for Chinese text remote control cluster robot |
| CN105759810A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Cluster robot system for Chinese text field control |
| CN105759794A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Foreign natural language text remote control cluster robot system |
| CN105759805A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Method for foreign natural language text on-site control cluster robot |
| CN105759797A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for Chinese voice remote control cluster robot |
| CN105759800A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Chinese voice on-site control cluster robot system |
| CN105759806A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for foreign natural language text on-site control cluster robot |
| CN105759740A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for person-independent foreign language voice on-site control cluster robot |
| CN105759809A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | System for person-independent foreign language voice on-site control cluster robot |
| CN105759799A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Person-independent foreign language voice on-site control cluster robot system |
| CN105759795A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Method for Chinese voice remote control cluster robot |
| CN105759807A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Chinese voice remote control cluster robot system |
| CN105785982A (en) * | 2014-12-19 | 2016-07-20 | 青海汉拉信息科技股份有限公司 | Method for remotely controlling cluster robots by using speaker-independent foreign language speech |
| CN105759801A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for Chinese voice on-site control cluster robot |
| CN105759808A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for Chinese text on-site control cluster robot |
| CN105759739A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for person-independent foreign language voice on-site control cluster robot |
| CN105759804A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Foreign natural language text on-site control cluster robot system |
| CN105759803A (en) * | 2014-12-19 | 2016-07-13 | 青海汉拉信息科技股份有限公司 | Controller device for foreign natural language text remote control cluster robot |
| CN105045144B (en) * | 2015-06-02 | 2016-07-06 | 南车株洲电力机车研究所有限公司 | A kind of cooperative control method, cooperative control system and converter |
| CN105045094B (en) * | 2015-08-03 | 2019-05-17 | 南通大学 | The task search and task executing method of multirobot group |
| CN106527193A (en) * | 2015-09-13 | 2017-03-22 | 青海汉拉信息科技股份有限公司 | Method for Chinese character full-automatic cloud-computing cluster remote control driver |
| CN105301966B (en) * | 2015-11-27 | 2018-04-03 | 上海无线电设备研究所 | Multirobot cooperative control method based on input-bound formula self-excitation driving |
| CN106182008B (en) * | 2016-08-12 | 2019-06-21 | 上海新时达电气股份有限公司 | The control system and method for multirobot |
| CN106155064B (en) * | 2016-09-28 | 2019-04-02 | 深圳市普渡科技有限公司 | A kind of multirobot dispatching method based on critical zone locking and de-locking |
| CN106358256B (en) * | 2016-10-26 | 2019-09-17 | 上海电机学院 | A kind of multirobot control coordinator's production method |
| CN106654987B (en) * | 2016-11-18 | 2018-06-19 | 华北电力大学（保定） | Power circuit multi-robot Cooperation method for inspecting |
| CN106444789A (en) * | 2016-12-03 | 2017-02-22 | 河池学院 | Multi-robot formation control system based on wireless sensor network |
| CN108345941B (en) * | 2017-01-23 | 2022-01-18 | 阿里巴巴集团控股有限公司 | Parameter adjusting method and device |
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | A kind of multirobot cooperates with transportation resources |
| CN108628294A (en) * | 2017-03-20 | 2018-10-09 | 北京军石科技有限公司 | A kind of autonomous cooperative control system of multirobot target and its control method |
| US11025566B2 (en) * | 2017-04-12 | 2021-06-01 | Facebook, Inc. | Techniques for intent-based search for bots |
| CN107103356B (en) * | 2017-04-24 | 2020-10-09 | 华北电力大学（保定） | Swarm robot searching method based on dynamic particle bee algorithm |
| CN107144843B (en) * | 2017-04-25 | 2019-12-31 | 西安电子科技大学 | Parallel ranging method based on graph structure task scheduling |
| CN107563653B (en) * | 2017-09-08 | 2020-04-28 | 中国人民解放军国防科技大学 | Multi-robot full-coverage task allocation method |
| CN109683556B (en) * | 2017-10-18 | 2021-02-09 | 苏州宝时得电动工具有限公司 | Cooperative work control method and device for self-moving equipment and storage medium |
| CN107831780B (en) * | 2017-10-24 | 2020-09-22 | 佛山科学技术学院 | Multi-robot cooperation trapping method based on simulated annealing idea |
| CN108958202B (en) * | 2018-07-27 | 2020-11-24 | 齐齐哈尔大学 | Multi-robot collaborative exploration method |
| US10953541B2 (en) | 2018-07-31 | 2021-03-23 | At&T Intellectual Property I, L.P. | Providing logistical support for robots |
| CN109672742B (en) * | 2018-12-25 | 2021-11-02 | 华南智能机器人创新研究院 | Intelligent cooperative control method and system based on different die casting machine systems |
| CN110009209A (en) * | 2019-03-26 | 2019-07-12 | 深兰科技（上海）有限公司 | A kind of method and device of robot information interaction |
| CN110244748B (en) * | 2019-06-27 | 2022-05-06 | 浙江海洋大学 | Underwater target detection system and detection method |
| CN110442133A (en) * | 2019-07-29 | 2019-11-12 | 南京市晨枭软件技术有限公司 | A kind of method and system of multiple groups industrial robot work compound |
| CN111240288B (en) * | 2020-01-20 | 2021-03-16 | 广东博智林机器人有限公司 | Method, device, equipment and storage medium for building calculation model and configuring calculation |
| CN111489049B (en) * | 2020-03-03 | 2022-07-05 | 北京理工大学 | Multi-agent distributed task allocation method |
| CN113276140A (en) * | 2021-05-25 | 2021-08-20 | 重庆邮电大学 | Magnetic control particle blocking type self-adaptive spherical grabber |
| CN113246160A (en) * | 2021-05-25 | 2021-08-13 | 重庆邮电大学 | Magnetic control flexible grabber with paper folding structure |
| CN113741297B (en) * | 2021-09-10 | 2023-06-23 | 北京京东乾石科技有限公司 | Task processing method, device and system for multiple robots and robot |
-
2008
- 2008-09-28 CN CN2008102328138A patent/CN101364110B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101364110A (en) | 2009-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101364110B (en) | Cooperating work control method and system for robot of multiple degree of freedom | |
| Chen et al. | A distributed method for dynamic multi-robot task allocation problems with critical time constraints | |
| CN110264062B (en) | Distributed multi-AGV dynamic task allocation and path planning method and system thereof | |
| Li et al. | Tasks assigning and sequencing of multiple AGVs based on an improved harmony search algorithm | |
| Mosteo et al. | A survey of multi-robot task allocation | |
| CN106936892A (en) | A kind of self-organizing cloud multi-to-multi computation migration method and system | |
| CN104301966A (en) | Semi-structured transmission dispatching method orienting wireless sensor network data collection | |
| CN103914556A (en) | Large-scale graph data processing method | |
| Sugiyama et al. | Effective task allocation by enhancing divisional cooperation in multi-agent continuous patrolling tasks | |
| Karadag et al. | Optimal power control, scheduling, and energy harvesting for wireless networked control systems | |
| Li et al. | Task scheduling of computational grid based on particle swarm algorithm | |
| CN101394418B (en) | General computation data processing control method based on mobile proxy | |
| Wu et al. | Multibuffers Multiobjects Optimal Matching Scheme for Edge Devices in IIoT | |
| CN106936905A (en) | The dispatching method and its scheduling system of the Nova component virtual machines based on openstack | |
| Banerjee et al. | An energy and time-saving task scheduling algorithm for UAV-IoT collaborative system | |
| Arribas et al. | Optimizing uav resupply scheduling for heterogeneous and persistent aerial service | |
| Basile et al. | An auction-based approach for the coordination of vehicles in automated warehouse systems | |
| Saadaoui et al. | Communication and energy optimization of local PSO-assisted multi-UAVs for moving targets exploration | |
| Manion et al. | Designing a self-replicating robotic manufacturing factory | |
| Jiayi et al. | A method of multi-UAV collaborative task assignment based on multiplexing | |
| Kumar et al. | Time-sensitive data collection with path-constrained mobile sink in WSN | |
| Durnyak et al. | Intelligent System for Sensor Wireless Network Access: Modeling Methods of Network Construction | |
| CN107784391B (en) | Operation time random basic combat unit use guarantee resource optimal allocation method | |
| Kenzin et al. | Autonomous coordination of heterogeneous vehicles for persistent monitoring problem with route and fuel constraints. | |
| Yu et al. | Parameter setting in a bio-inspired model for dynamic flexible job shop scheduling with sequence-dependent setups |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100818 Termination date: 20130928 |