CN107631238B - A kind of imitative firefly-inspired synchrony luminous body cluster robot and its synchronous light-emitting method - Google Patents
A kind of imitative firefly-inspired synchrony luminous body cluster robot and its synchronous light-emitting method Download PDFInfo
- Publication number
- CN107631238B CN107631238B CN201710867967.3A CN201710867967A CN107631238B CN 107631238 B CN107631238 B CN 107631238B CN 201710867967 A CN201710867967 A CN 201710867967A CN 107631238 B CN107631238 B CN 107631238B
- Authority
- CN
- China
- Prior art keywords
- robot
- light
- single robot
- phase
- robots
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/30—Semiconductor lamps, e.g. solid state lamps [SSL] light emitting diodes [LED] or organic LED [OLED]
-
- 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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of imitative firefly-inspired synchrony luminous body cluster robots and its synchronous light-emitting method Group Robots to be at least made of 2 single robot individuals, the single robot includes shell, controller module and camera sensing device and light emitting module, after single robot is opened, each single robot records the phase of one with time linear variation, when phase reaches luminescence phase, single robot issues a pulsed optical signals, single robot enters next light period later, own phase when being shone by the other monomers robot recorded during a upper light period, to adjust the initial phase of this single robot itself, in this way after multiple light periods, the light period of multiple single robots tends to be synchronous, it is finally reached all single robot synchronous light-emittings.The each single robot of the present invention is an independent individual, can be with any combination, and intelligence degree is high, and at low cost, scalability is strong, and robustness is good.
Description
Technical field
The present invention relates to a kind of synchronous light-emitting Group Robots, and in particular to a kind of imitative firefly-inspired synchrony luminous body cluster machine
People and its synchronous light-emitting method.
Background technique
By group's self-organizing behavior of the social biology of knowledge of natural environment circle, people expand Group Robots research and
Using.In nature, the night in every summer, the Frequency Synchronization that all fireflies in a certain range all keep certain are sent out
Light, this synchronia are widely present from inorganic to organic organization, then to human social activity, such as in period pacemaker cells
Neuroid；Cardiac synchronous pace-making system；The synchronous cry of cricket；The applause of crowd can be certainly in hall under no any commander
It sends out consistent etc..Group Robots possess powerful when executing task in unstructured environment complicated and changeable by cooperateing with each other
Function expansibility, flexibility, adaptability and robustness, can complete that single or multiple single robots combine can not
The task of completion, the breakthrough studied Group Robots and applied can bring the revolutionary leap of robot field.
At present to the research of synchronous light-emitting Group Robots both at home and abroad all in the primary stage.
The country has a small amount of theoretical research mainly for frequency synchronization algorithm, almost without the synchronous light-emitting group made
Robot entity discloses." a kind of novel sampling frequency synchronization algorithm " introduced such as Chinese patent 201611118507.2.
The research starting of external this respect is more early, and technology is more mature, and the synchronous light-emitting robot of existing finished product exists now.
But they are all based on greatly wireless sensor network (WSN), and WSN can rely on multiple sensors of different location in network,
Comprehensive measurement is carried out, by the data fusion of measurement, later by the communication step by step between human-computer interaction or node, thus gradually
It realizes and synchronizes.This node can not be directly synchronous with time reference method, necessarily cause synchronization accuracy as node is from the time
The increase of the distance of benchmark and increase.For example, the Self-Organizing Systems of U.S. Harvard University
The Group Robots of Research Group production, the Firefly of Japanese Future University Hakodate production
Robots etc..But the synchronous light-emitting robot of these finished products in the prevalence of involve great expense, structure is complicated, poor expandability and
The unstable problem of consistency.
Summary of the invention
The shortcomings that in order to overcome existing synchronous light-emitting Group Robots, the present invention provides a kind of perception of view-based access control model
Imitative firefly-inspired synchrony luminous body cluster robot.The synchronous light-emitting Group Robots are at least made of 2 single robots, by taking the photograph
As the state of head sensor identification surrounding single robot, and itself luminance is adjusted accordingly；Each single robot list
Body is all a complete independent individual, and intelligence degree is high, and at low cost, small in size, scalability is strong, and ornamental value is high, robust
Property is good.The structure of each single robot and the program of execution are identical.
What the present invention was realized particular by following technical scheme:
A kind of imitative firefly-inspired synchrony luminous body cluster robot, is made of, it is characterised in that: institute at least two single robots
Stating single robot includes shell, controller module and installation camera sensing device inside the shell and light emitting module, Duo Gedan
The visual range that the camera sensing device for guaranteeing each single robot in a certain range is put by body robot can at least be observed
To the luminance of an other monomers robot, each single robot can identify its visual range in a light period
The quantity of interior other monomers robot is no more than 10, single robot light-emitting mode are as follows: after single robot is opened, each
Single robot records the phase of one with time linear variation, when phase reaches luminescence phase from initial phase, control
Device module controls light emitting module and issues a pulsed optical signals, while the phase resets to initial phase into next luminous week
Phase, single robot are so periodically sent out optical signal；Other lists that the controller module is recorded by camera sensing device
The luminance of body robot, come the luminous week for adjusting the luminance of this single robot itself to make multiple single robots
Phase tends to be synchronous, is finally reached all single robot synchronous light-emittings.
As an improvement, the controller module adjusts this single robot luminance method particularly includes:
Other each external unisets in the camera sensing device of an each single robot light period recorded thereon
When device human hair light, the phase of this single robot, phase is denoted as max when single robot is shone, by some single robot
Phase when upper light period inside and outside other monomers robot shines is denoted as S1,S2,S3...Sn, n is natural number, Sn
Indicate some single robot upper n-th of a light period inside and outside single robot shine when, some monomer machine
The phase of people, then the initial phase of this single robot is adjusted toS indicates initial
Phase, each single robot are recycled by above-mentioned steps, and all single robots shine and tend to after multiple light periods
It is synchronous, it is finally reached synchronous light-emitting state.
As an improvement, the light emitting module is three-color LED light.
As an improvement, the shell of the single robot be top hollow out shell, the camera sensing device and shine
Module is mounted on the hollow part of shell.
As an improvement, the controller module includes circuit main board and the single-chip microcontroller that is mounted on circuit main board, the list
Piece machine is connected by circuit main board with camera sensing device and light emitting module.
As an improvement, the three-color LED light at least there are two, and three-color LED light is distributed in camera sensing device two sides.
As an improvement, being additionally provided with liquid crystal display on the shell, the liquid crystal display is for showing the monomer machine
The illuminated message of other single robots around people.
As an improvement, the single robot is additionally provided with robot switch, reset switch and for supplying to single robot
The power supply of electricity, for opening and closing single robot, the reset switch is used for single robot the robot switch
Reset to original state.
As an improvement, the controller module further includes crystal oscillator, the single robot records the time by crystal oscillator.
A kind of imitative firefly-inspired synchrony luminous body cluster robot synchronous light-emitting method, which comprises the following steps:
The synchronous light-emitting Group Robots are made of at least two single robots, the single robot include shell,
Controller module and installation camera sensing device inside the shell and light emitting module；Multiple single robots are placed in a certain range
It is interior, guarantee that the visual range of the camera sensing device of each single robot can at least observe an other monomers robot
Luminance, each single robot can identify the number of the other monomers robot in its visual range in a light period
Amount is no more than 10；
Single robot light-emitting mode are as follows: after single robot is opened, each single robot record one and time at
The phase of linear change, when phase reaches luminescence phase from initial phase, controller module controls light emitting module and issues one
Pulsed optical signals, while the phase resets to initial phase into next light period, single robot is so periodically sent out
Optical signals；
Other each external unisets in the camera sensing device of an each single robot light period recorded thereon
When device human hair light, the phase of this single robot, phase is denoted as max when single robot is shone, by some single robot
Phase when upper light period inside and outside other monomers robot shines is denoted as S1,S2,S3...Sn, n is natural number, Sn
Indicate some single robot upper n-th of a light period inside and outside single robot shine when, some monomer machine
The phase of people, then the initial phase of this light period of this single robot is adjusted to
S indicates that initial phase, each single robot are recycled by above-mentioned steps, all single robots after multiple light periods
It shines and tends to be synchronous, be finally reached synchronous light-emitting state.
The present invention provides the beneficial effects are as follows: realize the synchronous light-emitting of Group Robots by visual perception
A kind of novel synchronistic model, does not need wireless sensor network (WSN) support, and each single robot need to only be identified and be taken the photograph at it
As the other monomers robot within the scope of head sensor vision, without knowing the state of other monomers robot in global scope,
The operation of no host computer, each single robot dereliction take second place point, and the single robot quantity for forming a group can arbitrarily increase
Subtracting, is greater than two as long as meeting, scalability is strong, strong robustness, and it is small in size, it is at low cost, other can be carried according to demand
Module.
Detailed description of the invention
Fig. 1 is overall construction drawing of the invention.
Fig. 2 is circuit main board structure chart of the invention.
Fig. 3 is overall top view of the invention.
Fig. 4 is whole front view of the invention.
Fig. 5 is synchronous light-emitting procedure chart of the invention.
Fig. 6 is synchronous light-emitting program flow diagram of the invention.
1- shell in figure, 2- camera sensing device, 3- three-color LED light, 4- robot switch, 5- circuit main board, 6- lithium from
Sub- battery, 7- reset switch, 8-LCD liquid crystal display, 9- pedestal, 10- crystal oscillator, the fixed copper post of 11-, 12-LCD liquid crystal display
Jack, 13- burning program serial ports, 14- single-chip microcontroller, 15- camera sensing device jack.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention is a kind of imitative firefly-inspired synchrony luminous body cluster robot of view-based access control model perception, Group Robots at least by
2 single robot compositions, can independently complete synchronous light-emitting process.As depicted in figs. 1 and 2 is the implementation of single robot
Example, by shell 1, camera sensing device 2, three-color LED light 3, controller module, power supply, LCD liquid crystal display screen 8, pedestal 9, Gu
Determine the composition of copper post 11.
In embodiment as shown in Figure 1, the controller module includes circuit main board 5 and is mounted on circuit main board 5
Single-chip microcontroller 14, the single-chip microcontroller 14 are STM32 single-chip microcontroller, include 1 STM32 singlechip chip on the circuit main board 5,1
The crystal oscillator 10,1 of 12,1 8MHz of the LCD liquid crystal display screen jack of burning program serial ports 13,1 of camera sensing device jack 15,1
4,2, the robot switch three-color LED light 3 of a reset switch 7,1.
The camera sensing device 2 is placed on the circuit main board 5 of single robot, is connected by contact pin and circuit main board 5
It connects, and is embedded into the shell 1 of single robot, the camera sensing device 2 is at least 1；The LCD liquid crystal display screen 8
It is placed on circuit main board 5, is connect by contact pin with circuit main board 5, and LCD liquid crystal display screen 8 is at least 1；2 three colors
LED light 3 is placed on circuit main board 5, is connect by Du Pont's line with circuit main board 5, and 3 quantity of three-color LED light is as needed
Selection, is not limited to 2；The camera sensing device 2 is placed in ipsilateral, the abutting of three-color LED light 3 shell 1 with three-color LED light 3
Inner wall, the three-color LED light 3 are distributed in 2 two sides of camera sensing device.
The three-color LED light 3 can issue the light of arbitrary hue, and three-color LED light 3 is under various circumstances can be with
Adjustment programme issues the light of different color, enhances ornamental value of the invention.
The camera sensing device 2 is used to acquire the luminance of surrounding other monomers robot, and by acquisition other
On single robot luminescent image message reflection to LCD liquid crystal display screen 8.
The STM32 single-chip microcontroller is welded among circuit main board 5, the camera sensing device jack 15 and LCD liquid crystal
Display screen jack 12 is welded on around circuit main board 5, and described program burning serial ports 13 is welded on close to LCD liquid crystal display screen jack 12
5 edge of circuit main board of side, the robot switch 4 and reset switch 7 are welded on 15 side of camera sensing device jack
Around circuit main board 5, remaining electronic component is welded on circuit main board 5 other vacant positions.
The shell 1 is connect with pedestal 9 by bolt and fixed copper post 11, and the power supply is lithium ion battery 6, the lithium
Ion battery 6 is placed in above pedestal 9, is connected by cloth insertion sheet, and the circuit main board 5 passes through bolt and fixation with pedestal 9
Copper post 11 connects.
The lithium ion battery 6 is used to power to single robot, and described program burning serial ports 13 is corresponding for burning
Program is controlled, the robot switch 4 is used to control the working condition of entire single robot, and the reset switch 7 is for weight
The running state of programs of single robot is set, the crystal oscillator 10 is used to provide system clock for single robot.
The camera sensing device 2 is connect by camera sensing device jack 15 with circuit main board 5, the LCD liquid crystal
Display screen 8 is connect by LCD liquid crystal display screen jack 12 with circuit main board 5, and the three-color LED light 3 passes through Du's printed line and circuit master
Plate 5 connects.
After single robot each section is completed, pass through the burning program string on the circuit main board 5 of single robot
Multiple single robots are placed in a certain range by the synchronous light-emitting programs that mouth 13 has been debugged to each single robot burning
It is interior, and guarantee each single robot camera sensing device 2 visual range in can at least observe an other monomers machine
The luminance of device people sequentially or simultaneously opens the robot switch 4 of each single robot, at this time each single robot
An initial phase can be randomly obtained, and executes following program to steady ordered under the effect of the time record of crystal oscillator 10.
Below by taking 3 single robots as an example, 3 single robots are indicated with robot A, robot B and robot C respectively, in detail
Illustrate synchronous light-emitting mode of the invention.
In embodiment as shown in Figure 5, thin broken line indicates the phase change of robot A, in thick broken line indicate robot B's
Phase change, thick broken line indicate the phase change of robot C, and max indicates luminescence phase, when t indicates the system that crystal oscillator 10 records
Between.The robot switch 4 of robot A, robot B and robot C are opened simultaneously, robot A, B, C respectively randomly obtain one
A phase less than max, as shown in the t=0 moment in Fig. 5；At the t1.1 moment, robot A reaches luminescence phase max, issues one
After a pulsed optical signals, robot A enters next cycle after shining, and robot B, C detect robot A luminous signal and remember
Record own phase；At the t2.1 moment, robot B reaches luminescence phase max, robot B shine after according to remembering in upper a cycle
The own phase of record makes calculating, enters next light period after obtaining an initial phase, robot A, C detect machine
The luminous signal of people B simultaneously records own phase；And so on, t3.1, t1.2, t2.2, t3.2, t1.3, t2.3, t3.3,
At t1.4, t2.4, t3.4, t1.5, t2.5, t3.5 moment, robot C reaches luminescence phase max, according to upper after robot C is luminous
The phase recorded in a cycle makes calculating, enters next light period after obtaining an initial phase, by several mistakes
Robot A, robot B and robot C can't detect shining for other robot in a light period after light period
Information, i.e., three single robots realize synchronous light-emitting, as long as there is any one single robot during synchronous light-emitting
Because a variety of causes causes to shine in advance or be delayed, then inevitable just have another single robot in some light period
It inside detects this in advance or the single robot of delayed luminescence, all single robots is adjusted guarantee institute according to above-mentioned steps
Have and keeps synchronous light-emitting in time of the single robot below.
In the present embodiment, initial phase obtains according to the following formula:
Other each external unisets in 2 recorded thereon light periods of camera sensing device of each single robot
When device human hair light, the phase of this single robot, phase is denoted as max when single robot is shone, by some single robot
Phase when upper light period inside and outside other monomers robot shines is denoted as S1,S2,S3...Sn, n is natural number, Sn
Indicate some single robot upper n-th of a light period inside and outside single robot shine when, some monomer machine
The phase of people, then the initial phase of this light period of this single robot is adjusted to
S indicates initial phase.
From above-mentioned formula it is found that if single robot is infinitely more, the own phase that records in upper a cycle may also can
Have unlimited number of, then initial phase is possible to the case where will appear greater than max, single robot flashes always appearance at this time
Abnormal conditions.But since camera sensing device 2 is limited by visual range and single robot volume, the present embodiment is in reality
It is not in that single robot identifies the luminous feelings of numerous other monomers robot in one cycle in the implementation process of border
Condition, in the actual implementation process, each single robot can identify other lists in its visual range in a light period
Body robot quantity is no more than 10, avoids the abnormal conditions for occurring flashing always in this way, here it is above-mentioned initial phases to obtain
The origin of max/10 in formula is obtained, by MATLAB simulation analysis, resulting simulation result and Fig. 5 are very consistent.
The present embodiment is a kind of imitative firefly-inspired synchrony luminous body cluster robot of view-based access control model perception, and each multiple robots are extremely
Possessing 2 single robots less, each single robot identifies the state of surrounding single robot by camera sensing device 2,
And oneself luminance is adjusted accordingly；Each single robot is a complete independent individual, and intelligence degree is high, at
This is low, small in size, and ornamental value is high, and robustness is good.In the imitative firefly-inspired synchrony luminous body cluster robot based on visual perception
On build other modules, robot can be allowed to complete corresponding task, favorable expandability；The present invention can be used for experimental study, Ke Yiyong
Make teaching aid, experiment equipment, toy manufactures, also expansible rear as other function humanoid robot.
One of the foregoing is intended to be a preferred embodiment of the present invention, but protection scope of the present invention is not limited to
In this, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can be readily occurred in
Or substitution, it should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of imitative firefly-inspired synchrony luminous body cluster robot, is made of, it is characterised in that: described at least two single robots
Single robot includes shell, controller module and installation camera sensing device inside the shell and light emitting module, multiple monomers
The visual range that the camera sensing device for guaranteeing each single robot in a certain range is put by robot can at least observe
The luminance of one other monomers robot, each single robot can identify in its visual range in a light period
Other monomers robot quantity be no more than 10, single robot light-emitting mode are as follows: single robot open after, Mei Gedan
The phase of body robot records one and time linear variation, when phase reaches luminescence phase from initial phase, controller
Module controls light emitting module and issues a pulsed optical signals, while the phase resets to initial phase into next luminous week
Phase, single robot are so periodically sent out optical signal；Other lists that the controller module is recorded by camera sensing device
The luminance of body robot, come the luminous week for adjusting the luminance of this single robot itself to make multiple single robots
Phase tends to be synchronous, is finally reached all single robot synchronous light-emittings；
The controller module adjusts this single robot luminance method particularly includes:
Other each external single robots in the camera sensing device of an each single robot light period recorded thereon
When shining, the phase of this single robot, phase is denoted as max when single robot is shone, by some single robot upper
Phase when one light period inside and outside other monomers robot shines is denoted as S1,S2,S3...Sn, n is natural number, SnIt indicates
Some single robot upper n-th of a light period inside and outside single robot shine when, some single robot
Phase, then the initial phase of this single robot is adjusted toS indicates initial phase,
Each single robot is recycled by above-mentioned steps, and all single robots, which shine, after multiple light periods tends to be synchronous,
It is finally reached synchronous light-emitting state.
2. a kind of imitative firefly-inspired synchrony luminous body cluster robot as described in claim 1, it is characterised in that: the light emitting module
For three-color LED light.
3. a kind of imitative firefly-inspired synchrony luminous body cluster robot as claimed in claim 2, it is characterised in that: the monomer machine
The shell of people is the shell of top hollow out, and the camera sensing device and light emitting module are mounted on the hollow part of shell.
4. a kind of imitative firefly-inspired synchrony luminous body cluster robot as claimed in claim 3, it is characterised in that: the controller mould
Block includes circuit main board and the single-chip microcontroller that is mounted on circuit main board, and the single-chip microcontroller passes through circuit main board and camera sensing device
And light emitting module is connected.
5. a kind of imitative firefly-inspired synchrony luminous body cluster robot as claimed in claim 2, it is characterised in that: the three-color LED
Lamp at least there are two, and three-color LED light is distributed in camera sensing device two sides.
6. a kind of imitative firefly-inspired synchrony luminous body cluster robot as described in claim 1, it is characterised in that: on the shell also
Equipped with liquid crystal display, the liquid crystal display is used to show the luminous letter of other single robots around the single robot
Breath.
7. a kind of imitative firefly-inspired synchrony luminous body cluster robot as claimed in claim 4, it is characterised in that: the monomer machine
People is additionally provided with robot switch, reset switch and the power supply for powering to single robot, and the robot switch is for beating
Open and close single robot, the reset switch are used to single robot resetting to original state.
8. a kind of imitative firefly-inspired synchrony luminous body cluster robot as claimed in claim 4, it is characterised in that: the controller mould
Block further includes crystal oscillator, and the single robot records the time by crystal oscillator.
9. a kind of imitative firefly-inspired synchrony luminous body cluster robot synchronous light-emitting method, which comprises the following steps:
The synchronous light-emitting Group Robots are made of at least two single robots, and the single robot includes shell, control
Device module and installation camera sensing device inside the shell and light emitting module；Multiple single robots are put in a certain range,
Guarantee that the visual range of the camera sensing device of each single robot can at least observe the hair of an other monomers robot
Light state, each single robot can identify the quantity of the other monomers robot in its visual range in a light period
No more than 10；
Single robot light-emitting mode are as follows: after single robot is opened, each single robot record one linear with the time
The phase of variation, when phase reaches luminescence phase from initial phase, controller module controls light emitting module and issues a pulse
Optical signal, while the phase resets to initial phase into next light period, single robot is so periodically sent out light
Signal；
Other each external single robots in the camera sensing device of an each single robot light period recorded thereon
When shining, the phase of this single robot, phase is denoted as max when single robot is shone, by some single robot upper
Phase when one light period inside and outside other monomers robot shines is denoted as S1,S2,S3...Sn, n is natural number, SnIt indicates
Some single robot upper n-th of a light period inside and outside single robot shine when, some single robot
Phase, then the initial phase of this light period of this single robot is adjusted toS table
Show that initial phase, each single robot are recycled by above-mentioned steps, all single robot hairs after multiple light periods
Light tends to be synchronous, is finally reached synchronous light-emitting state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867967.3A CN107631238B (en) | 2017-09-22 | 2017-09-22 | A kind of imitative firefly-inspired synchrony luminous body cluster robot and its synchronous light-emitting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867967.3A CN107631238B (en) | 2017-09-22 | 2017-09-22 | A kind of imitative firefly-inspired synchrony luminous body cluster robot and its synchronous light-emitting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107631238A CN107631238A (en) | 2018-01-26 |
| CN107631238B true CN107631238B (en) | 2019-06-25 |
Family
ID=61101725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710867967.3A Expired - Fee Related CN107631238B (en) | 2017-09-22 | 2017-09-22 | A kind of imitative firefly-inspired synchrony luminous body cluster robot and its synchronous light-emitting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107631238B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108534900A (en) * | 2018-03-13 | 2018-09-14 | 深圳市优必选科技有限公司 | Color sensing device for robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101221238A (en) * | 2008-01-24 | 2008-07-16 | 上海交通大学 | Dynamic deviation estimation method based on gauss average value mobile registration |
| CN101790267A (en) * | 2010-01-18 | 2010-07-28 | 海洋王照明科技股份有限公司 | Bionic synchronous signal lamp and control circuit thereof |
| KR20100113382A (en) * | 2009-04-13 | 2010-10-21 | 한양대학교 산학협력단 | Learning method of an probabilistic affordance models and behavior selection method using the same |
| CN102169346A (en) * | 2011-02-18 | 2011-08-31 | 杭州电子科技大学 | Intelligent control method for coordinating multiple-robot system |
| CN102707675A (en) * | 2012-04-23 | 2012-10-03 | 深圳市中科鸥鹏智能科技有限公司 | Swarm-robot controller, swarm-robot control method and controller terminal |
| CN102811480A (en) * | 2012-06-19 | 2012-12-05 | 中国科学院计算技术研究所 | Wireless sensor network time synchronization method based on physical pulse coupling |
| CN102930761A (en) * | 2012-11-07 | 2013-02-13 | 上海理工大学 | Flash synchronization demonstration system and demonstration method of complex network |
| CN105357752A (en) * | 2015-12-07 | 2016-02-24 | 北京邮电大学 | Time synchronization method and apparatus for wireless ad-hoc network |
| CN105528990A (en) * | 2016-01-19 | 2016-04-27 | 西安诺瓦电子科技有限公司 | LED display screen uniformity correction method |
| CN106162997A (en) * | 2016-07-20 | 2016-11-23 | 深圳市寒武纪智能科技有限公司 | A kind of robot using lamp effect to realize man-machine interaction |
| CN106910337A (en) * | 2017-01-19 | 2017-06-30 | 长安大学 | A kind of traffic flow forecasting method based on glowworm swarm algorithm Yu RBF neural |
| CN107007215A (en) * | 2017-06-02 | 2017-08-04 | 深圳市得城网络科技有限公司 | Automatic sweeping machine device people with rotary human inductor |
-
2017
- 2017-09-22 CN CN201710867967.3A patent/CN107631238B/en not_active Expired - Fee Related
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101221238A (en) * | 2008-01-24 | 2008-07-16 | 上海交通大学 | Dynamic deviation estimation method based on gauss average value mobile registration |
| KR20100113382A (en) * | 2009-04-13 | 2010-10-21 | 한양대학교 산학협력단 | Learning method of an probabilistic affordance models and behavior selection method using the same |
| CN101790267A (en) * | 2010-01-18 | 2010-07-28 | 海洋王照明科技股份有限公司 | Bionic synchronous signal lamp and control circuit thereof |
| CN102169346A (en) * | 2011-02-18 | 2011-08-31 | 杭州电子科技大学 | Intelligent control method for coordinating multiple-robot system |
| CN102707675A (en) * | 2012-04-23 | 2012-10-03 | 深圳市中科鸥鹏智能科技有限公司 | Swarm-robot controller, swarm-robot control method and controller terminal |
| CN102811480A (en) * | 2012-06-19 | 2012-12-05 | 中国科学院计算技术研究所 | Wireless sensor network time synchronization method based on physical pulse coupling |
| CN102930761A (en) * | 2012-11-07 | 2013-02-13 | 上海理工大学 | Flash synchronization demonstration system and demonstration method of complex network |
| CN105357752A (en) * | 2015-12-07 | 2016-02-24 | 北京邮电大学 | Time synchronization method and apparatus for wireless ad-hoc network |
| CN105528990A (en) * | 2016-01-19 | 2016-04-27 | 西安诺瓦电子科技有限公司 | LED display screen uniformity correction method |
| CN106162997A (en) * | 2016-07-20 | 2016-11-23 | 深圳市寒武纪智能科技有限公司 | A kind of robot using lamp effect to realize man-machine interaction |
| CN106910337A (en) * | 2017-01-19 | 2017-06-30 | 长安大学 | A kind of traffic flow forecasting method based on glowworm swarm algorithm Yu RBF neural |
| CN107007215A (en) * | 2017-06-02 | 2017-08-04 | 深圳市得城网络科技有限公司 | Automatic sweeping machine device people with rotary human inductor |
Non-Patent Citations (5)
| Title |
|---|
| Firefly-Inspired Synchronization in Swarms of Mobile Agents;Fernando Perez-Diaz 等;《International Foundation for Autonomous Agents》;20151231;279-286页 |
| From Fireflies to Fault-Tolerant Swarms of Robots;Anders Lyhne Christensen 等;《IEEE TRANSACTIONS ON EVOLUTIONARY COMPUTATION》;20090831;第13卷(第4期);754-766页 |
| 多相位粒度萤火虫同步算法;郝创博，宋萍，杨诚，武江鹏;《电子与信息学报》;20160930;第38卷(第9期);2208-2214页 |
| 多空中机器人情感表达关键问题研究;李 盟;《人工智能与机器人研究》;20141231;47-54页 |
| 无线传感器网络时间同步算法研究;柯磊;《中国优秀硕士学位论文全文数据库 信息科技辑》;20170215;第4.1.3节 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107631238A (en) | 2018-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208128532U (en) | A kind of multifunctional plant growth and habitat information monitoring system | |
| CN204336038U (en) | A kind of smart motion health care bracelet | |
| CN104093251B (en) | Landscape Lamp application process based on intelligent bulbs | |
| CN107631238B (en) | A kind of imitative firefly-inspired synchrony luminous body cluster robot and its synchronous light-emitting method | |
| CN103052209A (en) | Wireless synchronizing system for LED (Light Emitting Diode) illumination | |
| CN105126226A (en) | Wake-up device based on solar energy and wake-up method based on solar energy | |
| US10269272B1 (en) | Remote controlled optical coupler with charger, GPS, and audio I/O | |
| CN205005304U (en) | Control system of LED lamp and light intensity sensor thereof | |
| CN203844510U (en) | Electronic hourglass | |
| CN205408234U (en) | Scene lamp control system | |
| CN103179766A (en) | Interactive LED (light-emitting diode) lighting control method and device | |
| CN106094594A (en) | A kind of alarm window control method flashing synchronization | |
| CN206998938U (en) | A kind of robot head device | |
| CN206639329U (en) | A kind of doorbell | |
| CN201926875U (en) | Rotary display clock | |
| CN205649065U (en) | Novel decorate pearl | |
| CN206270589U (en) | A kind of virtual reality system | |
| CN108958117A (en) | Event flag synchronization system, method and device for biological experiment | |
| CN110009987B (en) | Bionic spider intelligent simulation dynamic device | |
| CN205912186U (en) | Novel portable intelligent projection bracelet of intelligence | |
| CN207663716U (en) | Counting display device | |
| CN213276279U (en) | Clock and watch | |
| TWI293675B (en) | ||
| CN204536747U (en) | Multimedia classroom automatic correcting time and information issuing system | |
| CN210835624U (en) | Electronic timer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190625 Termination date: 20210922 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |