CN107491049A - A kind of more equipment collaboration operational methods and work compound device - Google Patents
A kind of more equipment collaboration operational methods and work compound device Download PDFInfo
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- CN107491049A CN107491049A CN201710754637.3A CN201710754637A CN107491049A CN 107491049 A CN107491049 A CN 107491049A CN 201710754637 A CN201710754637 A CN 201710754637A CN 107491049 A CN107491049 A CN 107491049A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of more equipment collaboration operational methods, method by optimizing each equipment room cooperative mode, realize that multiple equipment is shared out the work and help one another to overall task, the situation that when multiple equipment cooperates some regions repeat with operation is effectively prevent, substantially increases the efficiency of more equipment common operationals；A kind of work compound device is also provided simultaneously, for performing the above method, division of labor processing expeditiously can be carried out to task.
Description
Technical field
The present invention relates to field of intelligent control, particularly relates to a kind of more equipment collaboration operational methods and work compound device.
Background technology
As automation and the development of intelligent control technology, increasing working robot start to be applied to some biographies
In the work of system.In the work of routine, because workload is larger, in order to improve operating efficiency, it is often necessary to use multiple phases
Same equipment is operated simultaneously, to reduce the deadline of overall work amount.But in the prior art, using multiple equipment
When being operated jointly, due to lacking communication contact between each equipment, the situation for causing each equipment to fight separately is unavoidable to occur
Work the phenomenon repeated, causes the wasting of resources and reduces whole work efficiency.
By taking sweeper as an example, in the prior art, sweeper is independently working, if simultaneously using multiple sweepers to one compared with
When big clean space carries out cleaning operation, due to communication contact being not present between each sweeper, multiple sweepers are made in cleaning
The phenomenon of cleaning is duplicated during industry unavoidably, greatly reduces operating efficiency.
The content of the invention
In view of this, it is an object of the invention to propose a kind of more equipment collaboration operational methods and work compound device, energy
Sharing out the work and help one another for more equipment is enough realized, avoids the repeated work of implement.
Based on a kind of above-mentioned purpose more equipment collaboration operational methods provided by the invention, it is characterised in that applied to conduct
The implement of driven end, including：
Scanning work region, scanning result is sent to control terminal；
Operating path is received from the control terminal, performs job task according to the operating path, generation charge book is simultaneously
Sent to the control terminal.
Alternatively, after the driven end completes the job task, idle implement is turned into, from the control terminal or again
Distribute control terminal and receive compensation operating path, compensatory job task, generation operation note are performed according to the compensation operating path
Record and sent to the control terminal or the reassignment control terminal.
Alternatively, when the driven end turns into first idle implement, the driven end is converted into reassignment control
End processed, the charge book of all implements is collected, and contrasted with the working region map, checked for unfinished
Region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the reassignment control terminal, will using the unfinished region as new working region
The new working region is repartitioned and distributes to each idle implement, generates and assigns each idle implement of transmission
Operating path is compensated, and obtains the charge book of each idle implement.
Alternatively the charge book includes the Estimated Time Of Completion of corresponding job task；When the driven end turns into first
During individual idle implement, the driven end is converted into reassignment control terminal, and the charge book of all implements is collected, and
Contrasted with the working region map, check for unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the reassignment control terminal is big by Estimated Time Of Completion described in the unfinished region
In the region of default threshold value as new working region, the new working region is repartitioned and distributes to each idle work
Industry equipment, the compensation operating path for sending each idle implement is generated and assigned, and obtain each idle implement
Charge book.
Alternatively, the new working region is repartitioned and distributed to default for joining by the reassignment control terminal
With the idle implement of compensatory job task.
Alternatively, when the driven end turns into first idle implement, the driven end is converted into reassignment control
End processed；Afterwards, whenever having implement to turn into idle implement, the control terminal that reassigns is by the work of all implements
Industry record collects, and is contrasted with the working region map, checks for unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the reassignment control terminal, will using the unfinished region as new working region
All idle implements are distributed in the new working region, adjust and assign transmission be carrying out compensatory operation appoint
The operating path of the idle implement of business, generate and assign the idle operation for sending and newly turning into idle implement
The operating path of equipment, and obtain the charge book of each idle implement.
Alternatively, the reassignment client also performs：Compensation operating path is received from the reassignment control terminal, according to
The compensation operating path performs compensatory job task, generates charge book and is sent to the reassignment control terminal.
Another aspect of the present invention, a kind of more equipment collaboration operational methods are also provided, applied to control terminal or as control
The implement at end, including：
Receive the scanning result of each implement and collect, construction work area map；
Determine each implement position；
Division working region simultaneously generates the operating path of each implement；
Respectively to operating path corresponding to the transmission of each implement, and receive the charge book of each implement.
Alternatively, the initial job task that at least one implement is completed oneself to be assigned to turns into idle operation
After equipment, control terminal collects the charge book of each implement, and is contrasted with the working region map, checks whether
There is unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the control terminal, will be described new using the unfinished region as new working region
Working region repartition and distribute to all idle implements, generate and assign the compensation work of each idle implement
Path, and obtain the charge book of each idle implement.
Alternatively, the charge book includes the Estimated Time Of Completion of corresponding job task；At least one operation is set
After the standby initial job task for completing oneself to be assigned to turns into idle implement, control terminal is by the work of each implement
Industry record collects, and is contrasted with the working region map, checks whether there is unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, Estimated Time Of Completion described in the unfinished region is more than default by the control terminal
Threshold value region as new working region, the new working region repartitioned and distributes to all idle operations set
It is standby, the compensation operating path for sending each idle implement is generated and assigns, and obtain the charge book of each idle implement.
Alternatively, it is characterised in that the new working region is repartitioned and distributed to default by the control terminal
For participating in the idle implement of compensatory job task.
Alternatively, set whenever the initial job task for having the implement to complete oneself to be assigned to turns into idle operation
When standby, control terminal collects the charge book of each implement, and is contrasted with the working region map, checks whether there is
Region is not completed；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the control terminal, will be described new using the unfinished region as new working region
Working region distribute to all idle implements, adjust and assign and be carrying out the idle operation of compensatory job task and set
Standby operating path, generate and assign the new operating path for turning into and implement being limited described in idle implement, and obtain each
The charge book of idle implement.
Alternatively, control terminal determines that each implement position includes：The control terminal is by each implement by each institute
The scanning result for stating implement collects, and contrasts the scanning result and other each implements of any implement
Scanning result, determine the position of the implement.
Alternatively, it is characterised in that when more equipment collaboration operational methods are applied to the implement as control terminal,
Also include：
Scanning work region, scanning result is sent to the control terminal；
From the control terminal or control terminal reception operating path is reassigned, job task is performed according to the operating path,
Generate charge book and sent to the control terminal or the reassignment control terminal.
Another aspect of the present invention, a kind of more equipment collaboration operational methods are also provided, including described in foregoing two aspect
More equipment collaboration operational methods.
Alternatively, when the situation of job task occurs to continue executing with operation for implement, stop performing operation,
Fault-signal is sent, and exits working region.
Another aspect of the invention, also provide a kind of work compound device, it is characterised in that including：
At least one processor；And
The memory being connected with least one processor communication；Wherein,
The memory storage has can be by the instruction of one computing device, and the instruction is by least one place
Manage device to perform, so that at least one processor is able to carry out a kind of more equipment provided by the invention and thanks to eastern operational method side
Method.
From the above it can be seen that a kind of more equipment collaboration operational methods provided by the invention can efficiently realize it is more
Individual implement performs the work of different subregions by different work equipment to the work compound of same working region respectively
Industry task so that multiple implements can not repeatedly complete the operation to whole region, effectively prevent more equipment simultaneously
Repetition shop problem during work, improve the whole work efficiency of more equipment availability systems；
Also, a kind of work compound device provided in an embodiment of the present invention by with multiple work compound device cooperations
Mode realize overall task shared out the work and help one another, will be one of more than described work compound device be embodied as controlling
End, is embodied as driven end by remaining described work compound device, effectively prevent when multiple equipment cooperates to some regions
Repeat the situation of operation, substantially increase the efficiency of more equipment common operationals.Meanwhile the association for being implemented as control terminal
It can mutually change, realize under certain condition with operation controller and the work compound device for being implemented as driven end
To the flexible allocation of task, it is ensured that the reliability of task distribution, the overall utilization rate and work for improving all implements are imitated
Rate.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of more equipment collaboration operational methods provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of driven work compound device provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic flow sheet of more equipment collaboration operational methods provided in an embodiment of the present invention；
Fig. 4 is a kind of preferred flow schematic diagram of more equipment collaboration operational methods provided in an embodiment of the present invention
Fig. 5 is a kind of structural representation for controlling work compound device provided in an embodiment of the present invention；
Fig. 6 is a kind of hardware architecture diagram of work compound device provided in an embodiment of the present invention；
Fig. 7 is a kind of polycrystalline substance schematic diagram of intelligent sweeping provided in an embodiment of the present invention；
Fig. 8 is a kind of work flow schematic diagram of intelligent sweeping provided in an embodiment of the present invention.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
As shown in figure 1, be a kind of schematic flow sheet of more equipment collaboration operational methods provided in an embodiment of the present invention, it is described
Method is applied to the implement as driven end, including：
Step 101, scanning work region：Multiple implements enter working region, and the working region is swept
Retouch, scanning result is sent to control terminal.
Alternatively, the scanning is embodied as scanning along side, i.e., edge of each implement along the working region enters
Row scanning, determine the overall profile of the working region so that the scope of the working region can be by quick and easy determination.
Step 102, operation is performed：Operating path is received from the control terminal, performing operation according to the operating path appoints
Business, record working path send the charge book so as to generate charge book to the control terminal；
Alternatively, the charge book includes working path and/or work environment data, and the working path is the work
The path locus of industry equipment actual motion when performing job task, when the implement performs operation, while also obtain work
Make environmental data, the work environment data is documented in the charge book and sends the operation to the control terminal and is remembered
Record, to realize the real-time monitoring to working environment.
Alternatively, the control terminal is embodied as not possessing control centre's such as control platform of the implement function etc.,
Or, one or more of described implement is arranged to the control terminal for assigning function with control, planning and task.
Alternatively, the job task of each implement includes initial job task and compensatory job task, described initial
Job task corresponding to the operating path that job task receives for each implement in step 102, the compensatory operation are appointed
The implement for being engaged in formerly completing the initial job task for appointment is to help other implements to complete remaining operation jointly
Task and the job task distributed, so as to improve the whole work efficiency of all implements；
Alternatively, more equipment collaboration operational methods also include：After the driven end completes the initial job task,
As idle implement, from the control terminal or control terminal reception compensation operating path is reassigned, according to the compensation work
Path performs compensatory job task, generates charge book and is sent to the control terminal or the reassignment control terminal.
Alternatively, can be embodied as idle implement distribution of compensation job task：When the driven end turns into first
During individual idle implement, the driven end is converted into reassignment control terminal, for making for idle implement distribution of compensation
Industry task, i.e., the driven end of the first initial job task for completing to be assigned to are converted into reassignment control terminal, the reassignment
Control terminal collects the charge book of all implements, and is contrasted with the working region map, checks for not complete
Into region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the reassignment control terminal, will using the unfinished region as new working region
The new working region is repartitioned and distributes to each idle implement, generates and assigns each idle implement of transmission
Operating path is compensated, and obtains the charge book of each idle implement；
By the above method, the work of distribution of compensation job task can be caused to turn into idle implement by first
Driven end undertake, mitigate task and assign pressure, while idle implement can help not completing the work of initial job task
Industry equipment performs remaining job task jointly, improves whole work efficiency.
Alternatively, the embodiment of the present invention is also provided as the another replaceable of idle implement distribution of compensation job task
Embodiment：During each implement generation charge book, while this subtask Estimated Time Of Completion is generated, so that it is determined that
The job scheduling of corresponding implement；When the driven end turns into first idle implement, the driven end is converted into
Control terminal is reassigned, the charge book of all implements is collected, and is contrasted with the working region map, checks whether and deposits
In unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the reassignment control terminal is big by Estimated Time Of Completion described in the unfinished region
In the region of default threshold value as new working region, the new working region is repartitioned and distributes to an idle work
Industry equipment, the compensation operating path for sending each idle implement is generated and assigned, and obtain each idle implement
Charge book.
Pass through above-mentioned embodiment so that when reassigning the distribution of compensating property of control terminal job task, can differentiate i.e.
By complete initial job task implement and also need to the long period complete initial job task implement, so as to send
The implement that idle implement helps to need the long period to complete initiating task is sent, strengthens compensatory job task point
The specific aim of group.
Alternatively, in the compensatory job task method of salary distribution of above two, the reassignment control terminal can be compensation
Property job task distributes to all idle implements；A part of implement can also be only set as idle implement
After participate in compensatory job task, remaining implement need not participate in compensatory job task after as idle implement,
The new working region is only repartitioned and distributed to default for participating in compensatory operation by the reassignment control terminal
The idle implement of task, the default limitation implement for being used to participate in compensatory job task can carry out special set
Put, it is such as high compared to general job equipment operating efficiency, cruising time length etc., optimize the resource distribution between each implement,
Improve whole efficiency.
Alternatively, the embodiment of the present invention is also provided as the another replaceable of idle implement distribution of compensation job task
Embodiment：When the driven end turns into first idle implement, the driven end is converted into reassignment control terminal；It
Afterwards, whenever having driven end to turn into idle implement, the control terminal that reassigns converges the charge book of all implements
Always, and with the working region map contrast, check for unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the reassignment control terminal, will using the unfinished region as new working region
All idle implements are distributed in the new working region, adjust and assign transmission be carrying out compensatory operation appoint
The operating path of the idle implement of business, generate and assign the idle operation for sending and newly turning into idle implement
The operating path of equipment, and obtain the charge book of each idle implement；
Pass through the embodiment so that whenever thering is implement to complete initial job task as idle implement,
The compensatory operation for reassigning control terminal dynamic adjustment and being carrying out remaining idle implement of compensatory job task
Task, suitably reduce and adjust the task amount for the idle implement for being carrying out compensatory job task, by it is even go out compensation
Property job task distribute to the new implement for turning into idle implement so that each idle implement can participate in
Compensatory job task, and the task amount of compensatory job task can be according to the implement of the compensatory job task of actual participation
Number dynamics adjust, it is ensured that any idle implement will not be dispatched to execution separately having performed single compensation job task
Once extra compensatory job task, all compensatory job tasks will synchronously complete, and improve the entirety of all implements
Operating efficiency.
Alternatively, the reassignment control terminal is when compensating property job task distributes, while is also used as idle operation
Equipment performs compensatory job task, i.e. the reassignment client also performs：Compensation work is received from the reassignment control terminal
Make path, compensatory job task is performed according to the compensation operating path, generate charge book and controlled to described reassign
End is sent.
From the above it can be seen that a kind of more equipment collaboration operational methods provided in an embodiment of the present invention can be efficiently
Work compound of multiple implements to same working region is realized, different sub-districts are performed by different work equipment respectively
The job task in domain so that multiple implements can not repeatedly complete the operation to whole region, effectively prevented set more
Standby repetition shop problem when working simultaneously, improve the whole work efficiency of more equipment availability systems.
Specifically, the present invention provides a kind of driven work compound device, for performing the embodiment of the present invention as driven end
The more equipment collaboration operational methods applied to driven end provided, realize the function of the driven end.As shown in Fig. 2 it is this hair
A kind of structural representation for driven work compound device that bright embodiment provides, the driven work compound device include：
Power plant module 1001, for being provided for other each functional modules in the driven work compound device needed for work
Power, the power plant module may be embodied as battery, charging device, engine or with similar functions other devices；
Communication module 1002, outwardly sent for receiving the signal from control module 1003, and letter is received from the external world
Number it is transferred to control module 1003；Meanwhile between the different driven work compound devices and it is each it is described it is driven collaboration dress
Put to establish by communication module 1002 between control terminal and communicate to connect；
Control module 1003, for handling the information for receiving or detecting, and send control to other functional modules and refer to
Order；
Alternatively, when a certain driven work compound device is converted into the reassignment control terminal, the driven collaboration is made
The control module 1003 of industry device is additionally operable to perform the planning distribution of compensatory job task；
Walking module 1004, the travel commands sent for receiving and performing control module 1003 so that the driven association
Specified location can be moved to according to instruction with apparatus for work, so as to perform job task；
Operation module 1005, for receiving and performing the job instruction of control module 1003, perform job task；
Detection module 1006, for detecting the parameter to be measured of the driven work compound device, and send to control module
1003；
Alternatively, detection module 1006 includes gravity detection unit, Dynamic testing unit, obstacle detection unit, collision inspection
Survey unit, balance detection unit, path detection unit and be separately positioned in each functional module and connect with detection module 1006
Working state detection units connect etc. are used for the work for detecting working region profile, necessary working environment parameter, each functional module
The detection unit of the driven work compound device such as state, the travel path necessary parameter obtained at work so that described
Driven work compound device can detect necessary working environment parameter and itself working condition at work.
Alternatively, the parameter to be measured includes：The profile of working region, the working condition of each functional module, necessary work
The driven work compound device such as ambient parameter, the travel path parameter that necessity obtains at work.
Alternatively, the driven work compound device also includes alarm module, when the driven work compound device due to
Failure is short of power when can not continue executing with job task, and the driven work compound device is sent by the alarm module
Warning message, and exit working region；Alternatively, return maintenance station enters after the driven work compound device exits working region
Row maintenance.
Specifically, a kind of multiple driven work compound devices perform the embodiment of the present invention jointly as implement
A kind of more equipment collaboration operational methods provided.
From the above it can be seen that a kind of driven work compound device provided in an embodiment of the present invention passes through multiple operations
The cooperative mode of equipment is realized shares out the work and help one another to overall task, effectively prevent when multiple equipment cooperates to some
Region repeat the situation of operation, substantially increases the efficiency of more equipment common operationals.
As shown in figure 3, be a kind of schematic flow sheet of more equipment collaboration operational methods provided in an embodiment of the present invention, it is described
Method is applied to the implement as control terminal or as control terminal, including：
Step 201, area map is built：Receive the scanning result of each implement and collect, so as to establish work
Area map；
Step 202, each implement position is determined：The scanning result for contrasting a certain implement is each described with other
The scanning result of implement, and the working region map, determine the position of the implement；By respectively to each institute
State implement and perform the operation, realize the determination of the position to each implement；
Specifically, the position of the implement includes the relative position between each implement, and each implement
Position on the working region map；
Step 203, working region is divided：According to the position of the working region map and each implement by described in
Working region is divided into more sub-regions, and each subregion is respectively allocated into each implement, and plans each work
The operating path of industry equipment, the operating path of each implement is generated respectively；
Preferably, the operating path of each implement is arranged to：So that the operating path of all implements
The working region map can be completely covered, and without weight between the operating path of implement described in any two of which
Close；
Step 204, operating path is assigned：Its corresponding operating path is sent to each implement respectively, and obtains each work
The charge book of industry equipment.
Alternatively, the charge book includes working path and/or work environment data, and the working path is the work
The path locus of industry equipment actual motion when performing job task, when the implement performs operation, while also obtain work
Make environmental data, the work environment data is documented in the charge book and sends the operation to the control terminal and is remembered
Record, to realize the real-time monitoring to working environment.
Alternatively, the job task of each implement includes initial job task and compensatory job task, described
Initial job task is job task, the compensatory job task corresponding to the operating path of control terminal transmission in step 204
The implement that the initial job task is formerly completed for appointment is to help other implements to complete remaining operation jointly to appoint
The job task be engaged in and distributed；
Alternatively, as shown in figure 4, a kind of more equipment collaboration operational methods provided in an embodiment of the present invention also include being used to divide
Step 205 with compensatory job task：
Step 205, region has been checked：The initial job that at least one implement is completed oneself to be assigned to is appointed
After business turns into idle implement,
Control terminal collects the charge book of each implement, and is contrasted with the working region map, and inspection is
It is no to have unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the control terminal, will be described new using the unfinished region as new working region
Working region repartition and distribute to all idle implements, generate and assign the compensation work of each idle implement
Path, and obtain the charge book of each idle implement.
Pass through above-mentioned steps so that idle implement can help the implement for not completing initial job task common
Remaining job task is performed, improves overall operation efficiency.
Alternatively, step 205 can be replaced and be embodied as：It is simultaneously raw during each implement generation charge book
Cost subtask Estimated Time Of Completion；
The charge book includes the Estimated Time Of Completion of corresponding job task；At least one implement is completed certainly
After the initial job task that oneself is assigned to turns into idle implement, control terminal converges the charge book of each implement
Always, and with the working region map contrast, check whether there is unfinished region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, Estimated Time Of Completion described in the unfinished region is more than default by the control terminal
Threshold value region as new working region, the new working region repartitioned and distributes to all idle operations set
It is standby, the compensation operating path for sending each idle implement is generated and assigns, and obtain the charge book of each idle implement.
Pass through above-mentioned embodiment so that when compensating property of control terminal job task distributes, can differentiate and be near completion
The implement of initial job task and the implement for also needing to long period completion initial job task, it is idle so as to send
Implement helps the implement for needing the long period to complete initiating task, strengthens the pin that compensatory job task is assigned
To property.
Not necessarily identical generally, due to working region difficulty, area or other conditions, each implement completes oneself
The time needed for job task being assigned to is not necessarily identical, therefore, may necessarily cause a part of implement to be completed certainly
Oneself when being assigned to task, other implements remain unfulfilled the job task itself being assigned to, therefore, pass through add step
Rapid 205, enable to the implement for first completing task that abortive implement can be helped to complete remaining appoint jointly
Business, effectively improve the utilization rate and operating efficiency of all implements；Specifically, a part of implement can be set to perform this
The compensatory job task of kind, i.e., only default a part of implement participate in compensatory operation after as idle implement
One or several implements that task or selection are first completed initial job task and turned into idle implement perform benefit
Repaying property job task, i.e. become idle implement is also not involved in compensatory job task to remaining implement；It can also set
Put after all implements complete itself being assigned to of the task, be performed both by this compensatory task.
Alternatively, due to previous reasons, the progress that distinct device completes task is inconsistent, and this just likely results in different
It is inconsistent at the time of the equipment addition compensatory job task, cause different work equipment is front and rear to add the compensatory operation
Task；Therefore, step 205 can also be replaced and be embodied as：
When the initial job task for having the implement to complete oneself to be assigned to turns into idle implement, control
The charge book of each implement is collected at end processed, and is contrasted with the working region map, checks whether there is unfinished
Region；
If in the absence of region is not completed, judge that the task is completed, and terminate operation；
Region is not completed if existing, the control terminal, will be described new using the unfinished region as new working region
Working region distribute to all idle implements, adjust and assign and be carrying out the idle operation of compensatory job task and set
Standby operating path, generate and assign the new operating path for turning into and implement being limited described in idle implement, and obtain each
The charge book of idle implement.
That is, when the implement for having the new original allocation task for having completed itself adds as idle implement
When entering to participate in compensatory job task, the control terminal dynamic adjustment is carrying out remaining idle operation of compensatory job task
The compensatory job task of equipment, suitably reduce and adjust the task for the idle implement for being carrying out compensatory job task
Amount, by it is even go out compensatory job task distribute to the new implement for turning into idle implement so that it is each idle
Implement can participate in compensatory job task, and the task amount of compensatory job task can be according to the compensatory work of actual participation
The implement Number dynamics adjustment of industry task, it is ensured that any idle implement will not be appointed having performed single compensation operation
Business, which is dispatched to, performs another extra compensatory job task, and all compensatory job tasks will synchronously complete, and improve institute
There is the overall operation efficiency of implement.
Alternatively, when the control terminal is embodied as the implement as control terminal, because the control terminal is as work
Industry equipment possesses operation function, and the control terminal performs simultaneously：
Scanning work region, scanning result is sent to control terminal；
Operating path is received from the control terminal, performs job task according to the operating path, generation charge book is simultaneously
Sent to the control terminal.
Specifically, the embodiment of the present invention provides a kind of control work compound device, for performing the present invention as control terminal
More equipment collaboration operational methods applied to control terminal that embodiment provides, realize the function of the control terminal；As shown in figure 5,
For a kind of structural representation for controlling work compound device provided in an embodiment of the present invention, the control work compound device bag
Include：
Power plant module 1101, for being provided for other each functional modules in the control work compound device needed for work
Power, the power plant module may be embodied as battery, charging device, engine or with similar functions other devices；
Communication module 1102, outwardly sent for receiving the signal from control module 1103, and letter is received from the external world
Number it is transferred to control module 1103；Meanwhile between the different control work compound devices, and the control work compound dress
Put to establish by communication module 1102 between other implements and communicate to connect；
Control module 1103, for handling the information for receiving or detecting, and send control to other functional modules and refer to
Order；Also, it is additionally operable to perform the planning distribution of compensatory job task；
Walking module 1104, the travel commands sent for receiving and performing control module 1103 so that the control association
Specified location can be moved to according to instruction with apparatus for work, so as to perform job task；
Operation module 1105, for receiving and performing the job instruction of control module 1103, perform job task；
Detection module 1106, for detecting the parameter to be measured of the control work compound device, and send to control module
1103；
Alternatively, detection module 1106 includes gravity detection unit, Dynamic testing unit, obstacle detection unit, collision inspection
Survey unit, balance detection unit, path detection unit and be separately positioned in each functional module and connect with detection module 1106
Working state detection units connect etc. are used for the work for detecting working region profile, necessary working environment parameter, each functional module
The detection unit of the control work compound device such as state, the travel path necessary parameter obtained at work so that described
Control work compound device can detect necessary working environment parameter and itself working condition at work.
Alternatively, the parameter to be measured includes：The profile of working region, the working condition of each functional module, necessary work
The control work compound device parameter that necessity obtains at work such as ambient parameter, travel path.
Alternatively, it is described control work compound device also include alarm module, when it is described control work compound device due to
Failure is short of power when can not continue executing with job task, and the control work compound device is sent by the alarm module
Warning message, and exit working region；Alternatively, return maintenance station enters after the control work compound device exits working region
Row maintenance.
Specifically, multiple control work compound devices provide as implement, the common embodiment of the present invention that performs
A kind of more equipment collaboration operational methods.
From the above it can be seen that a kind of more equipment collaboration operational methods provided in an embodiment of the present invention can be efficiently
Work compound of multiple implements to same working region is realized, by using distribution subregion, planning circuit so that
Multiple implements can not repeatedly complete the operation to whole region, repetition when effectively having prevented more equipment while having worked
Shop problem, improves the whole work efficiency of more equipment availability systems, while adds the mechanism of compensatory job task,
The implement that the implement for the task that first fulfils assignment can help not completing itself task fulfils assignment task jointly, effectively carries
The high utilization rate of implement, improve the whole efficiency of all implements.
Alternatively, the driven work compound device and the control work compound device can be preferably implemented as together
One device, i.e. the embodiment of the present invention provides a kind of work compound device, can either only be used as driven end, also can only be used as control
End processed, a kind of more equipment collaboration operators provided in an embodiment of the present invention can also be performed as control terminal and driven end simultaneously
Method.
Specifically, a kind of more than one described work compound device is as control terminal, and more than one described collaboration is made
Industry device performs a kind of more equipment collaboration operational methods provided in an embodiment of the present invention jointly as implement.
Alternatively, in the embodiment of the present invention, it is implemented as the work compound device of control terminal and is implemented as
Work compound device can be changed mutually under certain condition described in driven end.That is, described control terminal is under certain condition
No longer Execution plan and the function of job task can be distributed, be converted to driven end and only perform job task as driven end；
The driven end can start Execution plan under certain condition and distribute the function of job task, be changed into institute from the driven end
Control terminal is stated, controls other implements.A kind of for example, the step of more equipment collaboration operational methods provided in an embodiment of the present invention
205 can be embodied as：
The job task for the subregion that at least one implement is completed oneself to be assigned to turns into idle operation and set
After standby, being initially completed the implement of the job task for the subregion oneself being assigned to turns into reassignment control terminal, will
The charge book of each implement collects, and is contrasted with the working region map, checks whether there is unfinished region, former
The first control terminal no longer performs task distribution；If in the absence of region is not completed, the task is completed；Do not completed if existing
Region, the reassignment control terminal distribute the new working region using the unfinished region as new working region
To each idle implement and the operating path of each idle implement is generated, the idle implement is according to institute
State operating path and perform job task.
Pass through such design so that when the control terminal because the other reasonses such as occupancy is too high, failure can not perform control
During function processed, each driven end can be converted to control terminal, realize that task is distributed, so that it is guaranteed that the reliability of task distribution, is improved
The efficiency that multiple implements are operated as total system.
Alternatively, the control terminal may be implemented as not possessing execution operation function, only possesses and plans and distribute operation
The control platform of task function, step 201~step 205 in present invention is only performed, is uniformly controlled all institutes
State work compound device.
From the above it can be seen that a kind of work compound device provided in an embodiment of the present invention with multiple by cooperateing with work
The cooperative mode of industry device is realized shares out the work and help one another to overall task, and one of work compound above is filled
Put and be embodied as control terminal, remaining described work compound device is embodied as driven end, multiple equipment is effectively prevent and cooperates
When some regions repeat with the situation of operation, substantially increase the efficiency of more equipment common operationals.Meanwhile described it is carried out
Under certain condition can be with for work compound control device and the work compound device for being implemented as driven end of control terminal
Mutually conversion, realizes the flexible allocation to task, it is ensured that the reliability of task distribution, improves the overall profit of all implements
With rate and operating efficiency.
Further, another aspect of the invention, it is proposed that a kind of a kind of execution more equipment collaboration operational methods
Work compound device one embodiment.As shown in fig. 6, perform more equipment collaboration works to be provided in an embodiment of the present invention
The hardware architecture diagram of one embodiment of the work compound device of industry method.
The work compound device includes：
One or more processors 301 and memory 302, in Fig. 6 by taking a processor 301 as an example.
The device for performing more equipment collaboration operational methods can also include：Input unit 303 and output device
304。
Processor 301, memory 302, input unit 303 and output device 304 can pass through bus or other modes
Connect, in Fig. 6 exemplified by being connected by bus.
Memory 302 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program and module, more equipment collaboration operational methods as described in the embodiment of the present application
Corresponding programmed instruction/module is (for example, power plant module 1001, communication module 1002, control module 1003 shown in accompanying drawing 2, OK
Module 1004, operation module 1005 and detection module 1006 are walked, and/or, the power plant module 1101 shown in accompanying drawing 5, communication module
1102nd, control module 1103, walking module 1104, operation module 1105 and detection module 1106).Processor 301 passes through operation
Non-volatile software program, instruction and the module of storage in the memory 302, so as to the various function application of execute server
And data processing, the i.e. embodiment of the present invention provide a kind of work compound device, memory are stored in by optionally running
Non-volatile software program, instruction and module in 302, control terminal can either be used as only as driven end or only, also can
Simultaneously a kind of more equipment collaboration operational methods provided in an embodiment of the present invention are performed as control terminal and driven end.
Memory 302 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can store uses institute according to alert identification assignment device
Data of establishment etc..In addition, memory 302 can include high-speed random access memory, non-volatile memories can also be included
Device, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments
In, memory 302 is optional including that can pass through net relative to the remotely located memory of processor 301, these remote memories
Network is connected to member user's behavior monitoring device.The example of above-mentioned network includes but is not limited to internet, intranet, local
Net, mobile radio communication and combinations thereof.
Input unit 303 can receive the numeral or character information of input, and produce and set with the user of work compound device
Put and the input of key signals that function control is relevant.Output device 304 may include the display devices such as display screen.
One or more of modules are stored in the memory 302, when by one or more of processors
During 301 execution, more equipment collaboration operational methods in above-mentioned any means embodiment are performed.It is described to perform more equipment collaborations
The embodiment of the work compound device of operational method, its technique effect and foregoing any means embodiment are same or similar.
Another embodiment of the present invention, a kind of work compound device provided in an embodiment of the present invention is embodied as a kind of intelligence
Sweeper, and a kind of more equipment collaboration operational methods provided in an embodiment of the present invention are performed, using multiple intelligent sweepings
It is common to perform cleaning task.
As shown in fig. 7, be a kind of polycrystalline substance schematic diagram of intelligent sweeping provided in an embodiment of the present invention, the intelligence
Sweeper includes cleaning module 2001, walking module 2002, power plant module 2003, detection module 2004, the He of control module 2005
Communication module 2006；
Wherein, due to power plant module 2003, detection module 2004, control module 2005 and communication module 2006 are inside
Module, do not show that in Fig. 7；Cleaning module 2001 includes brush 2007, round brush 2008, dirt box 2009, and is inhaled to produce
The fan of power, normally, the fan are arranged on inside dirt box 9；Walking module 2002 includes driving wheel 2010 and stabilizer
2011, specifically, in order to turn to flexibly, a pair of driving wheels 2010 is coaxially set, and stabilizer 2011 is embodied as universal wheel；
Cleaning module 2001 and walking module 2002 are electrical connected with control module 2005 and controlled module 2005 is sent
Instruction control；Power plant module 2003 provides electric energy for other each functional modules；Detection module 2004 is responsible for monitoring intelligent floor-sweeping
The state of machine and position, and pass the information on to control module 2005.Communication module 2006 is responsible for the letter with control module 2005
Number receive and send, and between other intelligent sweepings establish communication connection；
Power plant module 2003 includes the battery for providing energy, and charging device, the battery are arranged on the intelligence and swept
Inside ground machine.
Detection module 2004 include it is as depicted fall sensor 12, and 7 in figure in cannot or hardly show, such as
It is arranged on the side of the intelligent sweeping or the crash sensor of inside, gravity sensing sensor, gyroscope, battery electric quantity inspection
Survey unit, dust concentration sensor, detection of obstacles sensor, charging signals detection etc..
Communication module 2006 includes signal receiving device and sender unit.To by the current state of intelligent sweeping
Sent with positional information etc. to other intelligent sweepings and/or control terminal in the same space.
Control module 2005 is to receive the various detection signals of detection module 2004, to judge that intelligent sweeping is current
The information such as position and working condition, and walking module 2002, cleaning module 2001, power plant module are issued instructions to as needed
2003 and communication module 2006.
Specifically, the control terminal is embodied as：It will can be uniformly controlled the center controlling platform of all implements
The control terminal is arranged to, and/or, one or more of multiple described implements are arranged to the control terminal, performed
Task is distributed and control, remaining each implement are arranged to driven end, only performs the task of the control terminal distribution.
Especially, when a certain intelligent sweeping is as control terminal, its control module 2005 is additionally operable to execution task
Planning distribution.
Specifically, the intelligent sweeping provided in an embodiment of the present invention can both be used as the control terminal, can also make
For the driven end, corresponding function is performed；Also, the driven end under certain condition, can be changed into from the control terminal,
The control terminal can also be changed into from the driven end under certain condition.
As shown in figure 8, be a kind of intelligent sweeping work flow schematic diagram of the embodiment of the present invention, the more intelligent floor-sweepings
After machine enters the same space, the intelligent sweeping as driven end performs the following steps shown in Fig. 8 (a)：
Step 401, the more intelligent sweepings to current spatial scan along side, and send and sweep to the control terminal
Retouch result；
Step 402, operating path is received from the control terminal, cleaning operation task is performed according to the operating path, it is raw
The charge book is sent into charge book, and to the control terminal.
Meanwhile in the embodiment of the present invention, the control terminal is embodied as one or more of all intelligent sweepings, described
Control terminal performs the following steps as shown in Fig. 8 (b)：
Step 403, the scanning result is received, the scanning result of each intelligent sweeping is collected, and establish cleaning
Map determines the overall profile in region to be cleaned, i.e. working region as the working region map.
Step 404, the position of each intelligent sweeping is determined.
Step 405, according to the position of the cleaning map and each intelligent sweeping, the cleaning map is divided into
More sub-regions, and each subregion is respectively allocated to each intelligent sweeping, the cleaning as each intelligent sweeping
Region；Simultaneously according to the cleaning region and position of each intelligent sweeping, the operating path of each intelligent sweeping is planned,
And the cleaning path of each intelligent sweeping is generated respectively as operating path.
Step 406, its corresponding operating path is sent to each intelligent sweeping respectively, and obtains each intelligence and sweep
The charge book of ground machine.
Step 407, the job task for the subregion that at least one intelligent sweeping is completed oneself to be assigned to turns into
After idle implement, the control terminal collects the charge book of each intelligent sweeping, and with the working region
Figure contrast, checks whether there is unfinished region；If in the absence of region is not completed, the task is completed；Area is not completed if existing
The spare time is distributed in the new working region by domain, the control terminal using the unfinished region as new working region
Put implement and generate the operating path of each idle implement, and assign the work to each idle implement
Make path.
Alternatively, the intelligent sweeping in the embodiment of the present invention as control terminal performs step 401 and step 402 simultaneously,
Realize corresponding function as the driven end simultaneously.
During cleaning, respectively state the intelligent sweeping moment and detect the working condition of itself, such as battery electric quantity, once electricity
Less than setting value, that is, suspend clean up task, record current location, return to charging station charging.Completion to be charged, and original work
Task remains unfulfilled, then returns to the record position, continue to complete clean up task.
After the technical scheme provided using the present embodiment, when a certain intelligent sweeping not enough power supply is charging or gone out
When existing other failures can not continue to complete task, for example dirt box is filled, brush needs replacing etc., can be stopped and be alarmed, its
After its intelligent sweeping completes the clean up task of itself, it can be helped to complete remaining unfinished job task.
Alternatively, the position of intelligent sweeping in motion, recorded by means such as gyroscope and gravity sensors, also may be used
Distance is calculated with counter by left and right sidesing driving wheel.
Alternatively, intelligent sweeping scans along side, by the distance measuring sensor of intelligent sweeping side controls it along side
Distance, the distance measuring sensor typically use infrared distance measuring sensor and/or ultrasonic distance-measuring sensor.
From the above it can be seen that a kind of intelligent sweeping provided in an embodiment of the present invention passes through multiple intelligent sweepings
Cooperative mode is realized shares out the work and help one another to overall task, effectively prevent when multiple sweepers cooperate to some districts
Domain repeat the situation of operation, substantially increases the efficiency of how each sweeper carry out cleaning work common to the same area.
Those of ordinary skills in the art should understand that：The specific embodiment of the present invention is the foregoing is only, and
The limitation present invention is not used in, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc.,
It should be included within protection scope of the present invention.
Claims (10)
- A kind of 1. more equipment collaboration operational methods, it is characterised in that applied to the implement as driven end, including：Scanning work region, scanning result is sent to control terminal；Operating path is received from the control terminal, job task is performed according to the operating path, generates charge book and to institute State control terminal transmission.
- 2. more equipment collaboration operational methods according to claim 1, it is characterised in that the driven end completes the operation After task, turn into idle implement, from the control terminal or control terminal reception compensation operating path is reassigned, according to the benefit Repay operating path and perform compensatory job task, generate charge book and sent out to the control terminal or the reassignment control terminal Send.
- 3. more equipment collaboration operational methods according to claim 1, it is characterised in thatWhen the driven end turns into first idle implement, the driven end is converted into reassignment control terminal, will be all The charge book of implement collects, and is contrasted with the working region map, checks for unfinished region；If in the absence of region is not completed, judge that the task is completed, and terminate operation；Region is not completed if existing, the reassignment control terminal is using the unfinished region as new working region, by described in New working region is repartitioned and distributes to each idle implement, generates and assign the compensation for sending each idle implement Operating path, and obtain the charge book of each idle implement；Or,The charge book includes the Estimated Time Of Completion of corresponding job task；When the driven end turns into first idle operation During equipment, the driven end is converted into reassignment control terminal, and the charge book of all implements is collected, and with the work Area map contrasts, and checks for unfinished region；If in the absence of region is not completed, judge that the task is completed, and terminate operation；Region is not completed if existing, Estimated Time Of Completion described in the unfinished region is more than pre- by the reassignment control terminal If threshold value region as new working region, the new working region repartitioned and distributes to each idle operation set It is standby, the compensation operating path for sending each idle implement is generated and assigns, and obtain the operation of each idle implement Record；Or,When the driven end turns into first idle implement, the driven end is converted into reassignment control terminal；Afterwards, often When there is implement to turn into idle implement, the reassignment control terminal collects the charge book of all implements, And contrasted with the working region map, check for unfinished region；If in the absence of region is not completed, judge that the task is completed, and terminate operation；Region is not completed if existing, the reassignment control terminal is using the unfinished region as new working region, by described in All idle implements are distributed in new working region, adjust and assign transmission be carrying out compensatory job task The operating path of the idle implement, generate and assign the idle implement for sending and newly turning into idle implement Operating path, and obtain the charge book of each idle implement.
- 4. a kind of more equipment collaboration operational methods, it is characterised in that the implement applied to control terminal or as control terminal, bag Include：Receive the scanning result of each implement and collect, construction work area map；Determine each implement position；Division working region simultaneously generates the operating path of each implement；Respectively to operating path corresponding to the transmission of each implement, and receive the charge book of each implement.
- 5. more equipment collaboration operational methods according to claim 4, it is characterised in that at least one implement is complete After turning into idle implement into the initial job task oneself being assigned to, control terminal remembers the operation of each implement Record collects, and is contrasted with the working region map, checks whether there is unfinished region；If in the absence of region is not completed, judge that the task is completed, and terminate operation；Region is not completed if existing, the control terminal is using the unfinished region as new working region, by the new work Repartitioned as region and distribute to all idle implements, generated and assign the compensation working ways of each idle implement Footpath, and obtain the charge book of each idle implement；Or,The charge book includes the Estimated Time Of Completion of corresponding job task；At least one implement completes oneself quilt After the initial job task being assigned to turns into idle implement, control terminal collects the charge book of each implement, And contrasted with the working region map, check whether there is unfinished region；If in the absence of region is not completed, judge that the task is completed, and terminate operation；Region is not completed if existing, Estimated Time Of Completion described in the unfinished region is more than default threshold by the control terminal The new working region is repartitioned and distributes to all idle implements as new working region by the region of value, The compensation operating path for sending each idle implement is generated and assigned, and obtains the charge book of each idle implement；Or,When the initial job task for having the implement to complete oneself to be assigned to turns into idle implement, control terminal The charge book of each implement is collected, and contrasted with the working region map, checks whether there is unfinished region；If in the absence of region is not completed, judge that the task is completed, and terminate operation；Region is not completed if existing, the control terminal is using the unfinished region as new working region, by the new work All idle implements are distributed to as region, adjust and assign the idle implement that is carrying out compensatory job task Operating path, generate and assign the new operating path as limitation implement described in idle implement, and obtain each idle The charge book of implement.
- 6. more equipment collaboration operational methods according to claim 5, it is characterised in that the control terminal is by the new work Repartitioned as region and distribute to the default idle implement for being used to participate in compensatory job task.
- 7. more equipment collaboration operational methods according to claim 4-6 any one, it is characterised in that more equipment associations When being applied to the implement as control terminal with operational method, in addition to：Scanning work region, scanning result is sent to the control terminal；From the control terminal or control terminal reception operating path is reassigned, job task, generation are performed according to the operating path Charge book is simultaneously sent to the control terminal or the reassignment control terminal.
- 8. a kind of more equipment collaboration operational methods, it is characterised in that including described in claim 1-3 and/or claim 4-7 Method.
- 9. more equipment collaboration operational methods according to claim 8, it is characterised in that the implement is sent out in operation When life can not continue executing with the situation of job task, stop performing operation, send fault-signal, and exit working region.
- A kind of 10. work compound device, it is characterised in that including：At least one processor；AndThe memory being connected with least one processor communication；Wherein,The memory storage has can be by the instruction of one computing device, and the instruction is by least one processor Perform, so that at least one processor is able to carry out such as the method for claim 1-3 any one, and/or, perform as weighed The method that profit requires 4-7 any one, and/or, perform the method as described in claim 8-9 any one.
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| CN108762273A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of cleaning method |
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| CN114355877A (en) * | 2021-11-25 | 2022-04-15 | 烟台杰瑞石油服务集团股份有限公司 | Method and device for distributing multi-robot operation area |
| CN114355877B (en) * | 2021-11-25 | 2023-11-03 | 烟台杰瑞石油服务集团股份有限公司 | Multi-robot operation area distribution method and device |
| CN114468838A (en) * | 2022-01-21 | 2022-05-13 | 深圳市无限动力发展有限公司 | Charging control method, device and equipment for cleaning robot and storage medium |
| CN114532927A (en) * | 2022-03-23 | 2022-05-27 | 北京小米移动软件有限公司 | Cleaning method, cleaning device, cleaning system, electronic device, and storage medium |
| CN114532927B (en) * | 2022-03-23 | 2023-09-19 | 北京小米移动软件有限公司 | Cleaning method, cleaning device, cleaning system, electronic device, and storage medium |
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| CN116909239A (en) * | 2023-09-13 | 2023-10-20 | 众禾智慧(山东)科技有限公司 | Multi-device collaborative operation system and method for Internet of things |
| CN116909239B (en) * | 2023-09-13 | 2023-12-01 | 众禾智慧(山东)科技有限公司 | Multi-device collaborative operation system and method for Internet of things |
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