CN104950894A - Self-organization robot system - Google Patents
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Abstract
The invention belongs to the field of intelligent robots, and discloses a self-organization robot system. The system comprises multiple self-organization robot bodies, each self-organization robot body comprises a body for moving, a drive control module used for controlling the body to move, a navigation module used for self-positioning, a radio module used for receiving/transmitting and monitoring a radio signal, a direction acquisition module used for acquiring the direction which a receiving antenna points to so as to acquire an azimuth corresponding to the direction in real time and a central processing unit used for making judgment with a certain algorithm according to received data. The system can adapt to different environments and meet different needs, is simple in structure and low in cost and is widely used for various fields.
Description
Technical field
The present invention relates to field in intelligent robotics, particularly relate to self-organization robot.
Background technology
The research and development of self-organization robot system are a kind of novel robot technology of new rise in recent years both at home and abroad, are the important directions that intelligent robot technology is developed.Compared with the intelligent robot presetting programming with tradition, self-organization robot system continuous change with the environment of the unknown in work, particularly in stability, oneself's adjustment and self-adaptation, have more outstanding performance.Such robot is subject to the inspiration of biological self-organization behavior in the Nature, such as ant group, bee colony, the ideal style of the type robot system be by the individual cell robot of local between interaction but not the overall situation of outside control, to make between individuality environmentally with user need self, self assembly becomes different forms or structure, meets different request for utilizations with this.
Summary of the invention
The technical issues that need to address of the present invention are: the intelligent robot for existing default programming needs the quite complexity of individual design, system difficulty is high, poor controllability and unstable, provide a kind of self-organization robot system, this system becomes multi-form or structure by the modular unit machine individual human self of some, self assembly, uses needs so that different under meeting varying environment.
For solving the problems of the technologies described above: the present invention proposes a kind of self-organization robot system, described self-organization machine human organism comprises: for take action body, for control body movement drive control module, for self poisoning navigation module, for receive/send and monitoring wireless electric signal radio module, for obtaining receiving antenna direction, azimuthal acquisition direction module corresponding to this direction of Real-time Obtaining, the CPU (central processing unit) judged with certain algorithm according to the data acquisition received; Described CPU (central processing unit) is connected with radio module, described CPU (central processing unit) input end and navigation module, obtains direction module and is connected, and control end is connected with drive control module.
Preferably, also comprise for controlling interconnective link control module between body, described link control module is connected with the control end of CPU (central processing unit).
In above-mentioned either a program preferably, described self-organization robot system also comprises the connecting drive device for control linkage control module position and angle, and described connecting drive device is connected with the control end of CPU (central processing unit).
In above-mentioned either a program preferably, described radio module comprises receiving antenna for receiving radio signals, for obtaining the radio monitoring receiving element of radio signal, the radio-signal transmitter for transmitted radio signal, described radio reception unit is connected with CPU (central processing unit) input end, radio-signal transmitter is connected with CPU (central processing unit) output terminal.
In above-mentioned either a program preferably, also comprise the distance measuring sensor for hiding obstacle, described distance measuring sensor is connected with the input end of CPU (central processing unit).
In above-mentioned either a program preferably, also comprise the status indicator lamp being used to indicate fuselage state, described status indicator lamp is connected with the control end of CPU (central processing unit).
In above-mentioned either a program preferably, also comprise the enlargement module expanded for other functions, described enlargement module is connected with the control end of CPU (central processing unit).
In above-mentioned either a program preferably, described CPU (central processing unit) is integrated with Swarm Intelligence Algorithm.
In above-mentioned either a program preferably, described CPU (central processing unit) takes substep control mode, and concrete operations are as follows:
(1) when body is in released state S1, each body measures oneself position information by navigation module and direction acquisition device, and this positional information is outputted to radio-signal transmitter;
(2) when the radio monitoring receiving element of body receives the radio signal of other bodies, obtained data are outputted to this body CPU (central processing unit), CPU (central processing unit) carries out Treatment Analysis according to preset algorithm, draws analysis result;
(3) according to the analysis result of CPU (central processing unit), schedule driven control module, link control module, connection driver module perform movement instruction;
(4) after body completes instruction, broadcasted by transmitting set next time;
(5) repeat step (1) to (4), until body is finished the work when needing, changing fuselage state is self assembly state S2;
(6) when body is in released state S1 and to receive other states be the broadcast message of S2 body, released state S1 body is the target body execution requirements action of S2 to state, and its body status being adjusted to participation self assembly state S3, the body being simultaneously in S3 state only accepts the radio signal information of target S2 body;
(7) after the target body of status to be S3 body to state be S2 completes performing an action of requirement, the fuselage state of self is changed to S2;
(8), when the body being S2 when state is formed a team and comprised the body quantity array mode consistent with the body quantity obtained according to algorithm, it is SC that this inner institute organism of forming a team changes its body state, and participant status is not the mutual-action behavior of S1, S2, S3 body;
(9) when body status is SC and after judging adjacent body serial number information according to self sequence number, the object construction information of CPU (central processing unit) wait-receiving mode user request for utilization;
(10) when CPU (central processing unit) receives the object construction information of user's request for utilization, analyze according to algorithm, and according to analysis result controller body component, until the object construction of completing user request for utilization.
In above-mentioned either a program preferably, in described step (1), positional information comprises the angle of body position angle, body sequence number, body status, form a team coding and body connecting drive device.
In above-mentioned either a program preferably, analysis result comprises the angular setting information of the position mobile message of body, position angle adjustment information, body status, coded message of forming a team, body connection control device information and body connecting drive device in described step (2).
In above-mentioned either a program preferably, also comprise the power supply of powering for self-organization robot, described power supply is connected with connecting drive device.
In above-mentioned either a program preferably, also comprise the electrical quantity sensor for measuring electric quantity, electrical quantity sensor is connected with power supply and CPU (central processing unit) respectively.
In above-mentioned either a program preferably, described link control module comprises electromagnet or magnet, motor and syndeton, guides syndeton mutually to dock again by the rotation of Motor Control syndeton by magnet or electromagnet.
In above-mentioned either a program preferably, described connecting drive device comprises motor and gear structure.
Due to self-organization robot system of the present invention, comprise multiple unit robot, robot according to predetermined algorithm or mission requirements self, can be organized into and not allow form or structure, so can adapt to varying environment, meets different needs; Relative to can only comparing by robot of existing default programming, in the present invention, self-organization robot architecture is simple, and cost is low, be widely used in every field.
Self-organization robot system of the present invention is made up of multiple monomer self-organization robot, compared with the situation being completed complex task by individual machine people with tradition, greatly reduce and cause the situation of system crash because single body breaks down, even if multiple body breaks down in robot system of the present invention, also completing of task can be ensured under the prerequisite of some.
In robot system of the present invention, single body can carry out the adjustment of volume, material according to requirements, and develops the product being applicable to different field in conjunction with several functions.Such as can be responsible for the multi-field product such as post-disaster search and rescue, exploration, seeking, education.
In self-organization robot system of the present invention, single body at least also comprises one for hiding the distance measuring sensor of obstacle, collide with each other and clobber in can effectively avoiding body in action, cause the situation that body damages, ensure that the safety of described self-organization robot system.
In self-organization robot system of the present invention, single collective also comprises the electrical quantity sensor for carrying out electric quantity monitoring, described electrical quantity sensor is directly connected with central processing unit and power supply, data control by central processing unit the service condition that user's electricity informed by body status indicator lamp, effectively avoid the situation of losing because electricity is not enough.
Single self-organization robot CPU (central processing unit) in self-organization robot system of the present invention, radio command, control action is performed by radio monitoring receiving element, and interaction can be carried out by network and control center, there is provided Monitoring Data information in real time, person easy to use supervises described self-organization robot tasks carrying situation.
Accompanying drawing explanation
Fig. 1 is self-organization robot system composition frame chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail; what be necessary to herein means out is; following embodiment is only for being further detailed the present invention; can not be interpreted as limiting the scope of the invention, person skilled in art can make some nonessential improvement and adjustment according to foregoing invention content to the present invention.
As shown in Figure 1, a kind of self-organization robot system of the present invention, comprises multiple self-organization machine human organism.Each self-organization machine human organism comprises: for the body of taking action, for controlling the drive control module of body movement, for the navigation module of self poisoning, for the receiving antenna received radio signals, for obtaining the radio monitoring receiving element of radio signal, for hiding the distance measuring sensor of obstacle, for the radio-signal transmitter of transmitted radio signal, for obtaining receiving antenna direction, azimuthal acquisition direction module that this direction of Real-time Obtaining is corresponding, for controlling interconnective link control module between body, for the connecting drive device of control linkage control module position and angle, be used to indicate the status indicator lamp of fuselage state, for receiving radio monitoring receiving element signal, receive navigation module signal, schedule driven control module, scheduling link control module, scheduling connecting drive device, record connecting drive device position and angle, dispatch radio signal transmitter, control pilot lamp, analyze and placeholder record Monitoring Data, according to the CPU (central processing unit) that the data obtained judges in conjunction with certain algorithm.Drive control module, navigation module, receiving antenna, radio monitoring receiving element, distance measuring sensor, radio-signal transmitter, acquisition direction module, link control module, connecting drive device, status indicator lamp and CPU (central processing unit) are installed on body.Described CPU (central processing unit) input end is connected with radio reception unit, navigation module, distance measuring sensor, acquisition direction module, control end is connected with drive control module, link control module, connecting drive device, status indicator lamp, and output terminal is connected with radio-signal transmitter.CPU (central processing unit) is preset with Swarm Intelligence Algorithm, CPU (central processing unit) is received radio signals by input end and obtains direction module direction finding and judges direction, signal source place, according to guider judge relative position and distance and control drive control module control body move, adjustment body between relative position and array mode.CPU (central processing unit) judges whether to connect body according to relative position between body, judged whether to be connected with other bodies by link control module, and change pilot lamp according to connection status and send radio signal and inform other this body of body status, when CPU (central processing unit) judges to be connected with other bodies, adjust by connecting drive device control linkage control module the angle formed between adjacent body.
Self-organization robot system of the present invention also comprises the enlargement module expanded for other functions, such as illuminant module, video capture device, RFID radio frequency identification module etc., and described enlargement module is connected with the control end of CPU (central processing unit).
Navigation module can adopt gps satellite navigation module, but is not limited only to gps satellite navigation module in the present invention, such as Beidou navigation etc.Obtain direction module and adopt electronic compass, but be not limited only to electronic compass.
Self-organization robot system of the present invention also comprises the power supply for powering for self-organization robot, the electrical quantity sensor for measuring electric quantity, electrical quantity sensor is connected with power supply and CPU (central processing unit), and CPU (central processing unit) shows body state of charge by pilot lamp.When electricity is sufficient, pilot lamp is not pointed out, and when electricity is not enough to provide action and body information processing, pilot lamp gives flash red charging instruction.
Link control module comprises electromagnet or magnet, motor and syndeton, guides syndeton mutually to dock again by the rotation of Motor Control syndeton by magnet or electromagnet.
Radio-signal transmitter is connected with CPU (central processing unit), described radio-signal transmitter is based on the radio system of spread spectrum 2.4GHz, but be not limited to the radio system of 2.4GHz, for broadcasting the body position of navigation module measuring and calculating, body position angle, body sequence number, body status, form a team coding and the angle of body connecting drive device, above broadcast data is the data group after a series of quantizing.Consistent with body sequence number when coding of forming a team is initial, consistent with the body sequence number reaching self assembly state at first after body is interconnected.The present invention adopts radio reception and the emission coefficient of spread spectrum 2.4GHz, and strong, effective being applicable to of penetration capacity avoids the interference in traditional AM/FM radio signal, and radio signal stability is high.
Radio monitoring receiving element is the radio receiving system based on spread spectrum 2.4GHz, but is not limited to the radio system of 2.4GHz.Described radio receiving system is used for the measurement of signal spectrum parameter, in a digital manner measurement result can be sent to data-interface.Described radio monitoring receiving element is directly connected with CPU (central processing unit), the data received is transferred to CPU (central processing unit) to carry out analyzing, processing.
Connecting drive device comprises motor and gear structure, and connecting drive device is directly connected with body power supply and CPU (central processing unit).When body is connected, CPU (central processing unit) scheduling connecting drive device carries out rotating and moving, and drives link control module to rotate and moves thus make integrally-built change occurs between body.
Distance measuring sensor is connected with CPU (central processing unit), can select infrared distance sensor or ultrasonic distance-measuring sensor, is used for the barrier of monitoring on body mobile route carry out keeping away barrier.Self-organization robot barrier avoiding function is also by being optimized in conjunction with photoelectric sensor, crash sensor.
CPU (central processing unit) is preset with Swarm Intelligence Algorithm (Swarm Intelligence) also referred to as many bodies clustered control algorithm (body quantity >=2).The algorithm of CPU (central processing unit) has needed to obtain task setting according to oneself, and body CPU (central processing unit) algorithms different in self-organization robot system of the present invention has needed to obtain task setting according to oneself, and differing, to establish a capital be the same algorithm.But emphasize based on local individual cell robot between interaction but not the overall situation of outside control, to make between individuality environmentally with user need self, self assembly becomes different forms or structure, meets different request for utilizations with this.Interaction between unit robot refers to: between unit robot and other unit robots, the mutual-action behavior produced by the perception carrying out the mutual of data and sensor.Interaction wherein between unit robot refers to: between unit robot and other unit robots, the mutual-action behavior produced by the perception carrying out the mutual of data and sensor.But not the outside overall situation controls to refer to: the controlling mechanism that there is not a kind of dominance in self-organization robot system, namely from self-organization robot system outside, instruction is not assigned to each body by single body or single computing machine.That is system is by between unit robot and other unit robots, carries out interaction by the perception that is mutual and sensor carrying out data.
CPU (central processing unit) takes substep control mode, and concrete operations are as follows:
1, when body is in released state (being called state S1), i.e. not interconnective with any body state of body.Each body measures oneself position by navigation module and electronic compass, and this positional information is outputted to radio-signal transmitter.Positional information comprises the angle of body position angle, body sequence number, body status, coding of forming a team (consistent with body sequence number time initial, consistent with the body sequence number reaching self assembly state at first after body is interconnected) and body connecting drive device.
2, when the radio monitoring receiving element of body receives the radio signal of other bodies, obtained data are outputted to this body CPU (central processing unit), CPU (central processing unit) carries out Treatment Analysis according to preset algorithm, and income analysis result comprises the angular setting information of the position mobile message of body, position angle adjustment information, body status, coded message of forming a team, body connection control device information and body connecting drive device.
3, when body is in released state S1, the angular setting information of coded message, body connection control device information and body connecting drive device of forming a team is 0, and body performs movement instruction according to position mobile message schedule driven control module, body carries out according to position angle adjustment information angular setting, body to carry out indicator light colors change according to body status.
4, after body completes instruction, broadcasted by transmitting set next time;
5, repeat step 1 to 4, until body is finished the work when needing, changing fuselage state is self assembly state S2;
When body completes when move does not carry out displacement according to other machine broadcast messages or when body needs to reach assigned address according to task, changing fuselage state is self assembly state S2.Now central processing unit carries out analyzing and changes the angular setting information of the body status comprised in data group, coded message of forming a team, body connection control device information and body connecting drive device, and radio-signal transmitter broadcasts this data.
6, when body is in state S1 and to receive from other states be the broadcast of S2 body, S1 state body moves to the target body that state is S2 and is adjusted to its body status for participating in self assembly state (being called S3) and storing coded message of forming a team.Except the target body information that accepting state is S2, the body CPU (central processing unit) being in S3 state no longer receives the information of other bodies, in moving process, perform obstacle behavior as required.
The fuselage state of self, after the target body of status to be S3 body to state be S2 completes performing an action of requirement, is changed to S2 by 7;
8 when the body that state is S2 form a team comprise the body quantity array mode consistent with the body quantity obtained according to algorithm time, it is SC that this inner institute organism of forming a team changes its body state, and participant status is not the mutual-action behavior of S1, S2, S3 body;
9 are SC when body status and after judging adjacent body serial number information according to self sequence number, the object construction information of CPU (central processing unit) wait-receiving mode user request for utilization;
10 when CPU (central processing unit) receives the object construction information of user's request for utilization, be SC when body status and after judging adjacent body serial number information according to self sequence number, CPU (central processing unit) is analyzed according to algorithm, calculates the anglec of rotation of body self connecting drive device and dispatches self connecting drive device execution instruction.Especially, in this stage difference according to requirements, the execution of connecting drive device instruction can be finely tuned according to the angle of the existing connecting drive device of adjacent body, until complete the object construction formed according to user's request for utilization.
Embodiment 1:
Under open space, the described self-organization machine human organism of the some of stochastic distribution in same plane, the gridding in plane is completed by self-organization robot system, each body is preset with distance adjustment algorithm in this case, its main thought is the relative position between position angle and locating information computer body obtained by sensor, and the distance of being undertaken between nearest body by relative position adjusts behavior.Concrete operations mode comprises the steps:
1, when body is in released state (S1), i.e. not interconnective with any body state of body.Each body measures oneself position by navigation module and electronic compass, and positional information comprises to form a team belonging to body position angle, body sequence number, body status, body and the angle of body connecting drive device.
2, when the radio monitoring receiving element of body receives the radio signal from other bodies, obtained data are transferred to this body CPU (central processing unit), carry out Treatment Analysis according to predeterminable range adjustment algorithm.If the spacing d of body is greater than predeterminable range L recently in body and other bodies, CPU (central processing unit) obtains angle of cut α by computer body position angle and target body position angle, by computer body position P(x, y) with target body position P ' (x ', y '), obtain range information dx between body and target body.
3, the CPU (central processing unit) of described body is according to the spacing dx of body and target body and angle of cut α, analyze and schedule driven device rotation body azimuth angle alpha, carry out a signal broadcast after adjustment and recalculate angle of cut α and range information dx, CPU (central processing unit) calculates range information dx and the difference dd regulating and controlling distance ds.When | dd| is greater than safe distance i, body is formed a team and is encoded to its body sequence number, if the angle of cut | α | be less than or equal to security standpoint c, CPU (central processing unit) calculates position mobile message dd=|dx-ds| according to regulating and controlling distance ds in preset algorithm, and body central processing unit controls drive unit performs movement directive to distance dd place.If the angle of cut | α | be greater than security standpoint c, then reschedule drive unit and rotate body azimuth angle alpha, and broadcast, until the angle of cut between body and target body | α | be less than or equal to security standpoint c.| when dd| is less than safe distance i, body coding of forming a team changes to target body and to form a team coding.
In moving process, if body mobile route exists barrier, then body is by infrared distance sensor or ultrasonic distance-measuring sensor, is used for the barrier of monitoring on body mobile route carry out keeping away barrier.
4, the present embodiment system institute organism repeats above-mentioned steps, until CPU (central processing unit) no longer comprises the information of other coding bodies of forming a team in receiving radio signals, namely system is in dynamic steady state and completes gridding in plane, and wherein between grid, focus spacing is regulation and control distance ds.
Embodiment 2:
Under open space, the self-organization machine human organism of the some of stochastic distribution in same plane, complete gridding in plane by self-organization robot system of the present invention and self-adaptation through small space (width W), each body is preset with distance adjustment algorithm in this case, its main thought is the relative position between position angle and locating information computer body obtained by sensor, and the distance of being undertaken between nearest body by relative position adjusts behavior.Concrete operations mode comprises the steps:
1, when body is in released state (S1), each body measures oneself position by navigation module and electronic compass, and positional information comprises to form a team belonging to body position angle, body sequence number, body status, body and the angle of body connecting drive device
2, when the radio monitoring receiving element of body receives the radio signal from other bodies, obtained data are transferred to this body CPU (central processing unit), carry out Treatment Analysis according to predeterminable range adjustment algorithm.If the spacing d of body is greater than predeterminable range L recently in body and other bodies, CPU (central processing unit) obtains angle of cut α by computer body position angle and target body position angle, by computer body position P(x, y) with target body position P ' (x ', y '), obtain range information dx between body and target body.
3, the CPU (central processing unit) of described body is according to the spacing dx of body and target body and angle of cut α, analyze and schedule driven device rotation body azimuth angle alpha, carry out a signal broadcast after adjustment and recalculate angle of cut α and range information dx, CPU (central processing unit) calculates range information dx and the difference dd regulating and controlling distance ds.When | dd| is greater than safe distance i, body is formed a team and is encoded to its body sequence number, if the angle of cut | α | be less than or equal to security standpoint c, CPU (central processing unit) calculates position mobile message dd=|dx-ds| according to regulating and controlling distance ds in preset algorithm, and body central processing unit controls drive unit performs movement directive to distance dd place.If the angle of cut | α | be greater than security standpoint c, reschedule drive unit and rotate body azimuth angle alpha, and broadcast, until the angle of cut between body and target body | α | be less than or equal to security standpoint c.| when dd| is less than safe distance i, body coding of forming a team changes to target body and to form a team coding.
In moving process, if body mobile route exists barrier, then body is by infrared distance sensor or ultrasonic distance-measuring sensor, is used for the barrier of monitoring on body mobile route carry out keeping away barrier.
4, the present embodiment system institute organism repeats above-mentioned steps, until CPU (central processing unit) no longer comprises the information of other coding bodies of forming a team in receiving radio signals, namely system is in dynamic steady state and completes gridding in plane, and wherein between grid, focus spacing is regulation and control distance ds.
5, when having barrier in environment residing for system, and when the width that between barrier, existence allows a small amount of body to pass side by side is the small space of W.Institute's organism moves to small space, if in moving process with plane net form of formatting | and dd| is greater than safe distance i, repeats step 1-4 instauration net and formats.
6, when system moves to small space with gridding form, part body detects range information between moving direction barrier by distance measuring sensor and is transferred to CPU (central processing unit), CPU (central processing unit) reduces self size of regulation and control distance ds ' < ds(ds ' >=body), and broadcast new regulation and control distance ds '.The ds that system institute organism upgrades in its central processing unit is ds ', and carry out moving adjustment according to new ds ', the spacing of whole process progressively reduction system inner body and body is until part body distance measuring sensor no longer detects the range information between moving direction barrier.If the internal system after shrinking still organism detects the range information between barrier, then repeat this step until ds ' equals body self size.If still organism detects the range information of barrier when ds ' equals body self size, then the stopping of this body is moved and is changed to form a team and is encoded to body sequence number, and it is ds that CPU (central processing unit) resets ds ', and broadcasts.
7, the body after resetting recalculates angle of cut α between institute's organism and range information dx, and according to position P(x, y) and target body position P ' (x ', y ') calculate nearest body in other bodies.When range information dx is more than or equal to 0 with the difference dd of regulation and control distance ds, re-execute step 1-3, now target body should be by most end body in small space, and this body is followed target body and passed through small space.
Embodiment 3:
Under open space, the described self-organization machine human organism of the some of stochastic distribution in same plane, connect into grid with a certain body for initial point by self-organization robot system and form three-dimensional arced configuration, the function expansion module of each body is preset with illuminant module in this case, body is preset with substep join algorithm simultaneously, its main thought is the relative position between position angle and locating information computer body obtained by sensor, makes body be interconnected to grid plan layout in the plane.The intensity of illumination that the illuminant module be also preset with waveform configuration adjustment algorithm in this case, its main thought is similar two-dimentional convex closure (Convex Hull) algorithm realization ecto-entad substep, expanding according to body monitors, the angle changing each node upper machine body connecting drive device in syndeton make at an angle to each other between body thus produce three-dimensional arced configuration.Concrete operations mode comprises the steps:
1, when body is in released state S1, each body measures oneself position by navigation module and electronic compass, and positional information comprises the angle of body position angle, body sequence number, body status, form a team coding and body connecting drive device
2, when a certain body of system is in or changes to self assembly state S2, body is by oneself position information P(x of wireless launcher broadcast, y), azimuth information α, body sequence number, the angle of body status, coding of forming a team (being now body sequence number) and body connecting drive device.
3, when the body being in self assembly state S2 receives all radio signals being in the body of released state S1 of internal system, CPU (central processing unit) is according to self position information P(x, y) and other bodies positional information P ' (x ', y ') calculate nearest body, and send broadcast according to the body sequence number of nearest body.This broadcasted content comprises the body sequence number of additional information target body sequence number and nearest body.
4, when the body being in released state S1 receives the body signal being in self assembly state S2, central processing unit core is to target body sequence number in additional information and its body sequence number.If detect, body self sequence number is consistent with target body sequence number, changes to and participates in self assembly state S3, and it is consistent with state S2 body sequence number to store coded message of forming a team.
5, the body being in S3 state receives the body radio signal information that coding is consistent, state is S2 of self forming a team, CPU (central processing unit) is according to the positional information of S2 body and azimuth information, computer body position angle and target body position angle obtain angle of cut α, by computer body position P(x, y) with target body position P ' (x ', y '), obtain range information dx between body and target body.
6, the CPU (central processing unit) being in the body of S3 state is according to the spacing dx of body and target body and angle of cut α, analyze and schedule driven device rotation body azimuth angle alpha, carry out a signal broadcast after adjustment and recalculate angle of cut α and range information dx.If the angle of cut | α | be less than or equal to security standpoint c, body central processing unit controls drive unit performs movement directive to distance dx place.If the angle of cut | α | be greater than security standpoint c, reschedule drive unit and rotate body azimuth angle alpha, and broadcast, until the angle of cut between body and target body | α | be less than or equal to security standpoint c.
7, the CPU (central processing unit) being in the body of S3 state according to the spacing dx of body and target body and angle of cut α, when moving to distance dx place, self position angle of CPU (central processing unit) adjustment to and target body between angle of cut α be 90 °.After completing, S3 state body and target S2 state body at an angle to each other 90 and to be adjacently arranged to certain rules.
In moving process, if body mobile route exists barrier, then body is by infrared distance sensor or ultrasonic distance-measuring sensor, is used for the barrier of monitoring on body mobile route carry out keeping away barrier.
8, when the described S3 of being in state body according to belonging to form a team in the instruction made of the signal that sends of existing S2 state body complete position move and position angle adjustment time, if S3 state body and target S2 state body angle of cut α are 90 °, S3 state body is of coupled connections according between S2 body connecting drive device angle and target S2 state body link control module.When be of coupled connections success time S3 state body to change oneself state be S2, and information of forming a team belonging to body after changing is consistent with target S2, and the data group after being upgraded by transmitting set broadcast, comprise oneself position information P(x, y), azimuth information α, body sequence number, the angle of body status, coding of forming a team (now forming a team with S2 body, it is consistent to encode) and body connecting drive device.
9, the body being S2 when state is formed a team (form a team coding consistent) broadcasted by transmitting set after, the body signal of inner arbitrarily body cannot receive internal system state to be S1 or state the be S3 that forms a team.
10, when the body being S2 when state is formed a team and comprised the body quantity array mode consistent with the body quantity obtained according to algorithm, it is SC that this inner institute organism of forming a team changes its body state, and participant status is not the mutual-action behavior of S1, S2, S3 body.All states are body broadcast body sequence number, inner body of the forming a team arrangement sequence number of SC, and each body, according to other obtained body sequence numbers, judges the body sequence number that in full azimuth, (360 ° of scopes) is adjacent with its body.
11, when body status is SC and after judging adjacent body serial number information according to self sequence number, if body only has 2 adjacent body in full azimuth, then this body is in algorithm of convex hull ectomesoderm point set, CPU (central processing unit) controls the anglec of rotation of self connecting drive device according to the intensity of illumination that the illuminant module expanded monitors, if intensity of illumination is E, obtaining the anglec of rotation according to scale-up factor β is β * E, and make self-deformation number of times add 1, the sequence number of radio broadcasting self simultaneously, adjacent body sequence number, self-deformation number of times and the anglec of rotation.
12, when body status be SC and receive from other states be the body signal of SC time, central processing unit core is to its body sequence number and the adjacent body sequence number received, if check unanimously rear, and self-deformation number of times is other states is that the body deformation number of times of SC subtracts 1, then CPU (central processing unit) controls the anglec of rotation of self connecting drive device according to the intensity of illumination that the illuminant module expanded monitors, if intensity of illumination is E, obtaining the anglec of rotation according to scale-up factor β is β * E, and control the anglec of rotation of self connecting drive device, make self-deformation number of times add 1 simultaneously, and broadcast self sequence number, adjacent body sequence number, self-deformation number of times and choosing dress angle.
13 repeat step 12, when inner any body all cannot detect the body signal higher than self-deformation number of times until the body that state is SC is formed a team, repeat step 11.Thus realize ecto-entad substep, by changing the angle of each node upper machine body connecting drive device in syndeton, making at an angle to each other between body thus producing three-dimensional arced configuration.
Claims (10)
1. a self-organization robot system, comprise multiple self-organization machine human organism, it is characterized in that: described self-organization machine human organism comprises: for take action body, for control body movement drive control module, for self poisoning navigation module, for receive/send and monitoring wireless electric signal radio module, for obtaining receiving antenna direction, azimuthal acquisition direction module corresponding to this direction of Real-time Obtaining, the CPU (central processing unit) judged with certain algorithm according to the data acquisition received; Described CPU (central processing unit) is connected with radio module, described CPU (central processing unit) input end and navigation module, obtains direction module and is connected, and control end is connected with drive control module.
2. self-organization robot system according to claim 1, is characterized in that: also comprise for controlling interconnective link control module between body, described link control module is connected with the control end of CPU (central processing unit).
3. self-organization robot system according to claim 2, it is characterized in that: described self-organization robot system also comprises the connection driver module for control linkage control module position and angle, and described connection driver module is connected with the control end of CPU (central processing unit).
4. self-organization robot system according to claim 1, it is characterized in that: described radio module comprises receiving antenna for receiving radio signals, for obtaining the radio monitoring receiving element of radio signal, the radio-signal transmitter for transmitted radio signal, described radio reception unit is connected with CPU (central processing unit) input end, radio-signal transmitter is connected with CPU (central processing unit) output terminal.
5. self-organization robot system according to claim 1, is characterized in that: also comprise the distance measuring sensor for hiding obstacle, described distance measuring sensor is connected with the input end of CPU (central processing unit).
6. self-organization robot system according to claim 1, it is characterized in that: also comprise the enlargement module expanded for other functions, described enlargement module is connected with the control end of CPU (central processing unit).
7. self-organization robot system according to claim 1, is characterized in that: described CPU (central processing unit) is integrated with Swarm Intelligence Algorithm.
8. self-organization robot system according to claim 1, is characterized in that: described CPU (central processing unit) takes substep control mode, and concrete operations are as follows:
(1) when body is in released state S1, each body measures oneself position information by navigation module and direction acquisition device, and this positional information is outputted to radio-signal transmitter;
(2) when the radio monitoring receiving element of body receives the radio signal of other bodies, obtained data are outputted to this body CPU (central processing unit), CPU (central processing unit) carries out Treatment Analysis according to preset algorithm, draws analysis result;
(3) according to the analysis result of CPU (central processing unit), schedule driven control module, link control module, connection driver module perform movement instruction;
(4) after body completes instruction, broadcasted by transmitting set next time;
(5) repeat step (1) to (4), until body is finished the work when needing, changing fuselage state is self assembly state S2;
(6) when body is in released state S1 and to receive other states be the broadcast message of S2 body, released state S1 body is the target body execution requirements action of S2 to state, and its body status being adjusted to participation self assembly state S3, the body being simultaneously in S3 state only accepts the radio signal information of target S2 body;
(7) after the target body of status to be S3 body to state be S2 completes performing an action of requirement, the fuselage state of self is changed to S2;
(8), when the body being S2 when state is formed a team and comprised the body quantity array mode consistent with the body quantity obtained according to algorithm, it is SC that this inner institute organism of forming a team changes its body state, and participant status is not the mutual-action behavior of S1, S2, S3 body;
(9) when body status is SC and after judging adjacent body serial number information according to self sequence number, the object construction information of CPU (central processing unit) wait-receiving mode user request for utilization;
(10) when CPU (central processing unit) receives the object construction information of user's request for utilization, analyze according to algorithm, and according to analysis result controller body component, until the object construction of completing user request for utilization.
9. self-organization robot system according to claim 8, is characterized in that: in described step (1), positional information comprises the angle of body position angle, body sequence number, body status, form a team coding and body connecting drive device.
10. self-organization robot system according to claim 8, is characterized in that: analysis result comprises the angular setting information of the position mobile message of body, position angle adjustment information, body status, coded message of forming a team, body connection control device information and body connecting drive device in described step (2).
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