CN106329665B - Multiple robots collaboration working method - Google Patents

Multiple robots collaboration working method Download PDF

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Publication number
CN106329665B
CN106329665B CN201610932682.9A CN201610932682A CN106329665B CN 106329665 B CN106329665 B CN 106329665B CN 201610932682 A CN201610932682 A CN 201610932682A CN 106329665 B CN106329665 B CN 106329665B
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China
Prior art keywords
robot
electric energy
finding
finds
manipulator
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CN201610932682.9A
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Chinese (zh)
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CN106329665A (en
Inventor
张�杰
范洪辉
汤嘉立
洑涵妤
黄海军
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江苏理工学院
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Priority to CN201610932682.9A priority Critical patent/CN106329665B/en
Publication of CN106329665A publication Critical patent/CN106329665A/en
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Publication of CN106329665B publication Critical patent/CN106329665B/en

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2207/00Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/10Control circuit supply, e.g. means for supplying power to the control circuit

Abstract

The present invention relates to a kind of multiple robots collaboration working methods, including:Several robots of finding out are distributed in a region, to find out target alone respectively;And one electric energy supply robot in the area, and wait to find out robot power supply;It is of the invention find out robot can server it is uniformly coordinated under quickly assemble multiple robots of finding out and go to destination, and robot is fed by electric energy, required electric energy when robot queue is advanced is provided, the electric energy loss for finding out robot during progress is avoided, the cruise duration for finding out robot is improved.

Description

Multiple robots collaboration working method

Technical field

The present invention relates to a kind of multiple robots collaboration working methods.

Background technique

When multiple robots cooperate, electric energy feeds the work that often will affect this robotic team, seriously affects It continues working, is to improve the battery capacity of single robot, but the way improves the weight bearing of robot for way at present, And then improve load when robot advances.

Therefore, it is necessary to design one kind can effectively be to the multiple robots collaboration working method of robot progress electric energy supply The technical problem of this field.

Summary of the invention

The object of the present invention is to provide a kind of multiple robots collaboration working methods, to improve the cruising ability work of multiple robots Make.

In order to solve the above-mentioned technical problems, the present invention provides a kind of multiple robots collaboration working methods, including:

Several robots of finding out are distributed in a region, to find out target alone respectively;And one electric energy feed machine People is same in the area, and waits to find out robot power supply.

Further, after one, which finds out robot, finds out target, target position is sent to server, and notified by server This, which is found out the supply robot of the electric energy near robot and accordingly finds out robot, lines up to advance to target position.

Further, the front for finding out robot is equipped with manipulator, and back is equipped with clamping end, and finds out robot It is interior to be equipped with charge control module;Wherein the manipulator, power circuit contact and two power circuit contacts are equipped in clamping end It is connected to charge control module;The charge control module is suitable for realizing by corresponding power circuit contact to finding out in robot Lithium battery charges;And the robot of finding out further includes video acquisition module, metal detection module, infra-red detection mould Block, to realize video data acquiring, metal signal detection and life signal detection.

Further, electric energy supply robot, which is suitable for converting the solar into electric energy, is stored, i.e., the described electric energy is mended Include to robot:Charge and discharge control module, the photovoltaic cell being connected with the charge and discharge control module, and be located at the electric energy and mend To the power circuit contact in robot mechanical arm;Robot back is found out by manipulator clamping by electric energy supply robot Clamping end, find out the power circuit of robot to connect, be powered to robot is found out.

Further, the server accordingly finds out the current position of robot suitable for basis and determines that one collects with target position Point, i.e. server notice respectively find out robot, electric energy supply robot marches to the Rendezvous Point and carries out converging composition traveling queue, And electric energy supply robot be located at queue finally, and provide electric energy respectively to find out robot, to go to target location.

Further, described to find out robot queue, i.e., it respectively finds out robot and joins end to end, latter robot of finding out passes through machine Tool hand clamps the previous clamping end for finding out robot;The power circuit contact of the i.e. latter manipulator for finding out robot and previous spy Know that the power circuit contact of the clamping end of robot is connected;The manipulator of electric energy supply robot is clamped positioned at queue most The latter clamping end for finding out robot, and then construct the charge circuit for finding out robot queue.

Further, the power circuit contact in the manipulator is connected to charge and discharge control module;The charge and discharge control mould The power output of battery is found out robot in queue by the manipulator that the electric energy feeds robot by block.

The invention has the advantages that it is of the invention find out robot can server it is uniformly coordinated under quickly assemble Multiple robots of finding out go to destination, and feed robot by electric energy and provide required electric energy when robot queue is advanced, and keep away Exempt to find out electric energy loss of robot during progress, has improved the cruise duration for finding out robot.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 (a), Fig. 1 (b), Fig. 1 (c) are that multiple robots of the invention are found out when cooperating, find target and lined up The schematic diagram of advance;Wherein, it is Rendezvous Point that robot, round expression electric energy supply robot, A are found out in grid expression;

Fig. 2 is the functional block diagram of multiple robots of the invention in charging.

Specific embodiment

In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.

As shown in Fig. 1 (a), Fig. 1 (b), Fig. 1 (c) and Fig. 2, a kind of multiple robots provided by the invention include:It is several to find out Robot, the electric energy for providing electric energy feed robot, and feed robot with electric energy, respectively find out robot wireless telecommunications And the server for coordinating each robot work.

Wherein wireless communication mode such as, but not limited to uses WiFi, 4G communication modes, can also be using in the prior art Any one known wireless communication mode.

On the basis of machine crowd, machine crowd's collaboration working method, including:Robot distribution is found out by several In in a region, to find out target alone respectively;And one electric energy supply robot in the area, and wait to find out machine Device people power supply.

Further, after one, which finds out robot, finds out target, target position is sent to server, and notified by server This, which is found out the supply robot of the electric energy near robot and accordingly finds out robot, lines up to advance to target position.Wherein, target Position can be obtained by finding out the GPS module of robot interior, specifically, GPS module and finding out the processor in robot Module is connected.

Specifically, the front for finding out robot is equipped with manipulator, back is equipped with clamping end, and finds out robot It is interior to be equipped with charge control module;Wherein the manipulator, power circuit contact and two power circuit contacts are equipped in clamping end It is connected to charge control module;The charge control module is suitable for realizing by corresponding power circuit contact to finding out in robot Lithium battery charges;And the robot of finding out further includes video acquisition module, metal detection module, infra-red detection mould Block, to realize video data acquiring, metal signal detection and life signal detection.

The video acquisition module includes camera, which is suitable for the video data of acquisition passing through processor module And the wireless communication module being connected with the processor module is sent to server, or can carry out automatic identification by image, Image recognition is suitable for realizing by any one known technology.Metal detection module is such as, but not limited to include metal detection line Circle, the signal conversion output circuit being connected with the metal detections coils, signal conversion output circuit will test data and be sent to Processor module is to judge whether to detect metal object.The infra-red detection module is such as, but not limited to using human body infrared Sensor is connected with the processor module, to detect life signal.

The processor module such as, but not limited to uses ATMEL AT91SAM9261.

Electric energy supply robot, which is suitable for converting the solar into electric energy, to be stored, i.e., the described electric energy feeds robot Including:Charge and discharge control module, the photovoltaic cell being connected with the charge and discharge control module, and be located at the electric energy and feed robot Power circuit contact in manipulator;Electric energy supply robot finds out the clamping at robot back by manipulator clamping End is powered with connecting the power circuit for finding out robot to robot is found out.

The charge control module, charge and discharge control module for example including but be not limited to using LT1513, FS1610, and Control chip TPS2419.

It respectively finds out robot to be suitable in respective zone of action scanning for activity, when wherein one finding out robot and find out mesh (target is found out into realization by video acquisition module, metal detection module, infra-red detection module) after mark, target position is sent out It send to server, and robot and electric energy supply robot is respectively found out by server notice;And the server is suitable for basis It respectively finds out the current position of robot and target position determines a Rendezvous Point A, i.e., server notice respectively finds out robot, electric energy is mended It marches to the Rendezvous Point to robot to carry out converging composition traveling queue, and electric energy supply robot is located at queue finally, and being It respectively finds out robot and electric energy is provided, to go to target location.It specifically in Fig. 1 (a), enumerates three and finds out robot, respectively It is indicated with 1,2 and 3, after finding out robot 1 and finding out target, server notifies to find out robot 2 near the target position It is carried out with robot 3 and electric energy supply robot is found out to determining Rendezvous Point A, as shown in figure Fig. 1 (b), in Fig. 1 (c) In, set up parade.

It is described to find out robot queue, i.e., it respectively finds out robot and joins end to end, latter robot of finding out is pressed from both sides by manipulator Hold the previous clamping end for finding out robot;Machine is found out with previous in the power circuit contact of the i.e. latter manipulator for finding out robot The power circuit contact of the clamping end of people is connected;The manipulator of electric energy supply robot is clamped positioned at last spy of queue Know the clamping end of robot, and then constructs the charge circuit for finding out robot queue.

Power circuit contact in the manipulator is connected to charge and discharge control module;The charge and discharge control module is by being somebody's turn to do The power output of battery is found out robot in queue by the manipulator of electric energy supply robot.

Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.

Claims (5)

1. a kind of multiple robots collaboration working method, which is characterized in that
Several robots of finding out are distributed in a region, to find out target alone respectively;And
It is same in the area that one electric energy feeds robot, and waits to find out robot power supply;
After one, which finds out robot, finds out target, target position is sent to server, and notify this to find out machine by server Electric energy supply robot and corresponding robot of finding out near people line up to advance to target position;
The front for finding out robot is equipped with manipulator, and back is equipped with clamping end, and finds out and be equipped with charging in robot Control module;Wherein
Power circuit contact is equipped in the manipulator, clamping end and two power circuit contacts are connected to charge control module;
The charge control module, which is suitable for realizing by corresponding power circuit contact, to charge to finding out lithium battery in robot; And
The robot of finding out further includes video acquisition module, metal detection module, infra-red detection module, to realize video counts According to acquisition, metal signal detection and life signal detection.
2. multiple robots collaboration working method according to claim 1, which is characterized in that
Electric energy supply robot, which is suitable for converting the solar into electric energy, to be stored, i.e.,
The electric energy feeds robot:Charge and discharge control module, the photovoltaic cell being connected with the charge and discharge control module, with And
Power circuit contact in electric energy supply robot mechanical arm;
Electric energy supply robot finds out the clamping end at robot back by manipulator clamping, finds out robot to connect Power circuit is powered to robot is found out.
3. multiple robots collaboration working method according to claim 2, which is characterized in that
The server accordingly finds out the current position of robot suitable for basis and target position determines a Rendezvous Point, i.e.,
Server notice respectively finds out robot, electric energy supply robot marches to the Rendezvous Point and carries out converging composition traveling queue, And electric energy supply robot be located at queue finally, and provide electric energy respectively to find out robot, to go to target location.
4. multiple robots collaboration working method according to claim 3, which is characterized in that
It is described to find out robot queue, i.e., it respectively finds out robot and joins end to end, latter robot of finding out passes through before manipulator clamping One finds out the clamping end of robot;I.e.
The power circuit of the power circuit contact of the latter manipulator for finding out robot and the previous clamping end for finding out robot touches Point is connected;
The manipulator of electric energy supply robot clamps that last finds out the clamping end of robot positioned at queue, and then constructs and visit Know the charge circuit of robot queue.
5. multiple robots collaboration working method according to claim 4, which is characterized in that the energization in the manipulator is returned Road contact is connected to charge and discharge control module;
The charge and discharge control module is by the manipulator of electric energy supply robot by the power output of battery in queue Find out robot.
CN201610932682.9A 2016-10-31 2016-10-31 Multiple robots collaboration working method CN106329665B (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102721422A (en) * 2012-06-01 2012-10-10 北京交通大学 Intelligent guide system for power supply of electric automobile
JP2013005471A (en) * 2011-06-11 2013-01-07 Kinki Univ Laser energy transmission system for major reactor accident
CN103235595A (en) * 2013-04-27 2013-08-07 湖南科技大学 Control system and control method of outdoor micro ground swarm robot
CN204271703U (en) * 2014-12-19 2015-04-15 南京阿凡达机器人科技有限公司 A kind of for charging/supply apparatus people
CN105005304A (en) * 2015-03-26 2015-10-28 嘉兴市德宝威微电子有限公司 Anti-terrorism robot
CN105182981A (en) * 2015-10-14 2015-12-23 珠海格力电器股份有限公司 Robot walking method, control method, control system, and server
CN105425791A (en) * 2015-11-06 2016-03-23 武汉理工大学 Swarm robot control system and method based on visual positioning
CN106314728A (en) * 2016-09-18 2017-01-11 河海大学常州校区 Underwater search and rescue robot, cooperative control system and working method of cooperative control system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013005471A (en) * 2011-06-11 2013-01-07 Kinki Univ Laser energy transmission system for major reactor accident
CN102721422A (en) * 2012-06-01 2012-10-10 北京交通大学 Intelligent guide system for power supply of electric automobile
CN103235595A (en) * 2013-04-27 2013-08-07 湖南科技大学 Control system and control method of outdoor micro ground swarm robot
CN204271703U (en) * 2014-12-19 2015-04-15 南京阿凡达机器人科技有限公司 A kind of for charging/supply apparatus people
CN105005304A (en) * 2015-03-26 2015-10-28 嘉兴市德宝威微电子有限公司 Anti-terrorism robot
CN105182981A (en) * 2015-10-14 2015-12-23 珠海格力电器股份有限公司 Robot walking method, control method, control system, and server
CN105425791A (en) * 2015-11-06 2016-03-23 武汉理工大学 Swarm robot control system and method based on visual positioning
CN106314728A (en) * 2016-09-18 2017-01-11 河海大学常州校区 Underwater search and rescue robot, cooperative control system and working method of cooperative control system

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