CN108858207A - It is a kind of that Target Searching Method and system are cooperateed with based on the multirobot remotely controlled - Google Patents
It is a kind of that Target Searching Method and system are cooperateed with based on the multirobot remotely controlled Download PDFInfo
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- CN108858207A CN108858207A CN201811034408.5A CN201811034408A CN108858207A CN 108858207 A CN108858207 A CN 108858207A CN 201811034408 A CN201811034408 A CN 201811034408A CN 108858207 A CN108858207 A CN 108858207A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The invention discloses a kind of based on the multirobot remotely controlled collaboration Target Searching Method and system, wherein the method includes：Robot control terminal receives the search instruction that the control robot that user terminal is sent carries out target search, and search instruction is generated by user terminal user based on user terminal operations interface operation；Robot control terminal responds search instruction, and the instruction analysis program of starting robot control terminal parses search instruction, the target searched for needed for obtaining；Fuzzy positioning is carried out to target based on priori model；Robot control terminal obtains the machine list information in fuzzy localization region based on the fuzzy localization region where target；Robot control terminal is instructed according to robot directive sending target search of the machine list information into domain；Robot in fuzzy localization region carries out target search.In embodiments of the present invention, it is cooperateed with by multirobot and carries out target search, can fast and accurately search predeterminated target.
Description
Technical field
The present invention relates to multirobot coordination technique field more particularly to it is a kind of based on remotely control multirobot collaboration
Target Searching Method and system.
Background technique
Robot (Robot) is the automatic installations for executing work；It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
Multiple machine person cooperative works are required under many operating modes can just be rapidly completed, existing association of robot
With in control method, because of the limitation of operation mode or other reasons, can not robot control terminal can not be according in the instruction of user
Appearance, which carries out automatically selecting multiple robots, to cooperate, and increases the operating quantity of user and makes user's operation experience poor
Deng.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, and the present invention provides a kind of based on the multimachine remotely controlled
Device people cooperates with Target Searching Method and system, and robot controller determines the fuzzy of searched target according to search instruction content
Region instructs described search in the robot being sent in fuzzy region, realizes the multirobot association in control fuzzy region
With target search is carried out, predeterminated target can be fast and accurately searched.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of based on the multirobot remotely controlled collaboration
Target Searching Method, the method includes：
Robot control terminal receives the search instruction that the control robot that user terminal is sent carries out target search, described to search
Suo Zhiling is generated by user terminal user based on user terminal operations interface operation；
The robot control terminal response described search instruction, starts the instruction analysis program of robot control terminal to described
Search instruction is parsed, the target searched for needed for obtaining；
Fuzzy positioning is carried out to the target based on priori model, obtains the fuzzy positioning area where the target
Domain；
The fuzzy localization region of the robot control terminal where based on the target obtains the fuzzy positioning area
Machine list information in domain；
The robot control terminal orients hair according to robot of the machine list information into the fuzzy localization region
The target search is sent to instruct；
Robot in the fuzzy localization region carries out target search after receiving the target search instruction.
Optionally, described search instruction is generated by user terminal user based on user terminal operations interface operation, including：
User carries out the certification of identity body at the user terminal operations interface, confirms that the user is legitimate user；
After confirming that the user is legitimate user, the user is allowed to scan on user terminal operations interface
Instruction generates operation, generates described search instruction.
Optionally, the communication between the user terminal and the robot control terminal is based on cable network, wireless network
Network, mobile 4G network, mobile 5G net or bluetooth equipment are communicated；
Communication between the robot control terminal and robot of institute is based on wireless network, mobile 4G network or mobile 5G
Net is communicated.
Optionally, the robot control terminal response described search instruction, the instruction of starting robot control terminal parse journey
The instruction of ordered pair described search is parsed, the target searched for needed for obtaining, including：
The robot control terminal instructs the physics for obtaining the user terminal for sending described search instruction based on described search
The identity information of address and user；
The robot control terminal judges institute according to the physical address of the user terminal and the identity information of the user
Whether legal state search instruction；
If judging, described search instruction is illegal, and judging result is fed back to the user terminal；
If judging, described search instruction is legal, responds described search instruction.
Optionally, the robot control terminal is according to the physical address of the user terminal and the identity information of the user
Judge whether described search instruction is legal, including：
Whether the physical address for judging the user terminal is physical address that the robot prestores；
If it is not, then described search instruction is illegal；
If so, matched using the user right set that the identity information of the user is prestored with the robot,
Search instruction permission is sent with judging whether the subscriber identity information possesses.
Optionally, the fuzzy localization region of the robot control terminal where based on the target, obtains the mould
The machine list information in localization region is pasted, including：
Fuzzy localization region of the robot control terminal where based on the target, determines in the fuzzy localization region
Robot whether be greater than preset threshold；
If it is not, then expanding fuzzy localization region, whether being greater than in the fuzzy localization region after continuing determining expand is default
Threshold value；
If so, obtaining the machine list information in the fuzzy localization region, the machine list information is at least
Including robot physical address information.
Optionally, the robot in the fuzzy localization region carries out target after receiving the target search instruction
Search, including：
Robot in the fuzzy localization region is after receiving the target search instruction, the fuzzy localization region
Interior robot is based on flora foraging algorithm and carries out target search.
Optionally, the robot in the fuzzy localization region is based on flora foraging algorithm and carries out target search, including：
Initialize the robot location information and target the fuzzy localization region probability；
Upon initialization, the region of search of the robot delimited；
The robot motion direction moves from high to low according to the probability and carries out motion search to target, until completing
The robot specifies search for region.
In addition, target acquisition system is cooperateed with based on the multirobot remotely controlled the embodiment of the invention also provides a kind of,
The system comprises：
Command reception module：The control robot that user terminal is sent, which is received, for robot control terminal carries out target search
Search instruction, described search instruction by user terminal user be based on user terminal operations interface operation generation；
Instruct respond module：For robot control terminal response described search instruction, start robot control terminal
Instruction analysis program parses described search instruction, the target searched for needed for obtaining；
Fuzzy locating module：For carrying out fuzzy positioning to the target based on priori model, the target is obtained
The fuzzy localization region at place；
List information obtains module：For the robot control terminal based on the target where the fuzzy positioning area
Domain obtains the machine list information in the fuzzy localization region；
Instruction sending module：For the robot control terminal according to machine list information to the fuzzy localization region
The instruction of target search described in interior robot directive sending；
Target search module：The target search instruction is being received for the robot in the fuzzy localization region
Afterwards, target search is carried out.
In embodiments of the present invention, the search instruction that robot control terminal is sended over by solving user terminal, obtains
Search instruction content determines the fuzzy region of searched target according to search instruction content, and described search instruction is sent to mould
It pastes in the robot in region, the multirobot collaboration in realization control fuzzy region carries out target search, can quickly, accurately
Search predeterminated target.
Detailed description of the invention
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 is clear 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
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the process signal based on the multirobot collaboration Target Searching Method remotely controlled in the embodiment of the present invention
Figure；
Fig. 2 is the structure composition based on the multirobot collaboration target acquisition system remotely controlled in the embodiment of the present invention
Schematic diagram.
Specific embodiment
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 all other
Embodiment shall fall within the protection scope of the present invention.
Embodiment：
Referring to Fig. 1, Fig. 1 is to cooperate with Target Searching Method based on the multirobot remotely controlled in the embodiment of the present invention
Flow diagram.
As shown in Figure 1, a kind of cooperate with Target Searching Method based on the multirobot remotely controlled, the method includes：
S11：Robot control terminal receives the search instruction that the control robot that user terminal is sent carries out target search, institute
It states search instruction and is generated by user terminal user based on user terminal operations interface operation；
In specific implementation process of the present invention, described search instruction is based on user terminal operations interface by user terminal user
Operation generates, including：User carries out the certification of identity body at the user terminal operations interface, confirms that the user is legal use
Family；After confirming that the user is legitimate user, the user is allowed to carry out search instruction on user terminal operations interface
Operation is generated, described search instruction is generated.Communication between the user terminal and the robot control terminal is based on wired
Network, wireless network, mobile 4G network, mobile 5G net or bluetooth equipment are communicated；The robot control terminal and institute's machine
Communication between people is to be communicated based on wireless network, mobile 4G network or mobile 5G net.
Specifically, user terminal may include cell phone terminal, individual PC terminal perhaps tablet computer or others
Operable intelligent terminal；Robot control terminal can be the equipment such as cloud server.
User on the subscriber terminal operation interface scan for instruction generate operation when, the operation interface of user terminal is first
It needs user to carry out corresponding authentication, authentication can be carried out by way of inputting account password for user first；
User can also by recognition of face or be living body finger print identification；By above-mentioned identity identifying method to the identity of user
It is authenticated, to confirm that user is legal operation user, ensures the safety of operation, so that user can security control
Robot is worked accordingly according to the instruction of user.
After confirmation user is legitimate user, then allow to be confirmed as the user of legitimate user on the subscriber terminal
Operation interface on carry out corresponding operation, for example operation interface on the subscriber terminal scans for instruction and generates operation, and
Generate with operation relative to search instruction, carry out the mode such as communicating by wireless network, mobile 4G network or mobile 5G net and send out
It send to robot control terminal.
S12：The robot control terminal response described search instruction, starts the instruction analysis program pair of robot control terminal
Described search instruction is parsed, the target searched for needed for obtaining；
In specific implementation process of the present invention, the robot control terminal response described search instruction starts robot control
The instruction analysis program at end processed parses described search instruction, the target searched for needed for obtaining, including：The robot control
End group processed instructs in described search and obtains the physical address for the user terminal for sending described search instruction and the identity information of user；
The robot control terminal judges that described search refers to according to the physical address of the user terminal and the identity information of the user
Whether enable legal；If judging, described search instruction is illegal, and judging result is fed back to the user terminal；If described in judgement
Search instruction is legal, then responds described search instruction.
Wherein, the robot control terminal is sentenced according to the physical address of the user terminal and the identity information of the user
Whether disconnected described search instruction is legal, including：Judge that the whether described robot of the physical address of the user terminal prestores
Physical address；If it is not, then described search instruction is illegal；If so, using the identity information and the robot of the user
The user right set prestored matches, and whether subscriber identity information described in matching judgment, which possesses, sends search instruction permission.
Specifically, being pair first after the search instruction that robot control terminal sends on receiving user terminal
The search instruction is parsed accordingly, and the search instruction sended over includes the identity of the physical address of user terminal, user
The command information of information and search instruction can be obtained the transmission that the search instruction is included by the search instruction sended over
The command information of the physical address of the user terminal of the search instruction, the identity information of user and search instruction；It is being sent
After the physical address and subscriber identity information of the user terminal of search instruction, robot is needed according to user terminal physically
Location and subscriber identity information judge the legitimacy of the search instruction, if by the judgement, judge search instruction to be illegal,
Then robot is fed back to judging result on user terminal by former road；If judging search instruction for valid instruction, response should
Search instruction carries out operation relevant to instruction；The process for wherein judging the legitimacy of search instruction mainly includes：According to user
The physical address of terminal and the identity information of user judge the legitimacy of search instruction；Specifically, user terminal is first determined whether
Physical address whether be the physical address prestored in robot, the result of judgement is if not the object prestored on detection device
Manage address, then judge the search instruction for illegal instruction, the physical address if the determination result is YES prestored in robot, then
Matched using the user right set that the identity information of user is prestored with robot, matches the corresponding user's power of the search instruction
It whether there is the identity information of the user in limit set, if it is not, then the search instruction is illegal, if so, the search instruction closes
Method.
After confirming that the search instruction is valid instruction, the instruction analysis program started in robot control terminal searches this
Suo Zhiling is parsed, and the required search target in the search instruction information is obtained.
S13：Fuzzy positioning is carried out to the target based on priori model, obtains the fuzzy positioning where the target
Region；
In the specific implementation process, fuzzy positioning is carried out to target based on priori model, priori model is
Probabilistic model carries out the probability that fuzzy positioning is the position possibly being present at according to target to target using probabilistic model and carries out mould
Paste positioning, the mould where the sum of the probability of position that target possibly is present at is determined as target in 99.99% or more region
Paste localization region.
S14：The fuzzy localization region of the robot control terminal where based on the target, it is described fuzzy fixed to obtain
Machine list information in the region of position；
In specific implementation process of the present invention, the fuzzy positioning of the robot control terminal where based on the target
Region obtains the machine list information in the fuzzy localization region, including：The robot control terminal is based on the target
The fuzzy localization region at place, determines whether the robot in the fuzzy localization region is greater than preset threshold；If it is not, then expanding
Fuzzy localization region continues to determine in the fuzzy localization region after expanding whether be greater than preset threshold；If so, described in obtaining
Machine list information in fuzzy localization region, the machine list information include at least robot physical address information.
Specifically, the robot control terminal is according in the fuzzy localization region where the target that will be searched, confirmation should
The quantity of existing robot generally requires in the specific implementation process and obscures localization region at this in fuzzy localization region
Liang Tai robot or more is inside existed simultaneously, so in embodiments of the present invention, preset preset threshold is 1, is determining the mould
After the quantity for pasting robot existing in localization region, the quantity of robot existing in localization region is obscured using this
It is compared with preset threshold, judges whether that be greater than preset threshold needs to continue to expand fuzzy localization region if being not more than
Area, until the quantity until obscuring the robot in localization region is greater than preset threshold；Machine in fuzzy localization region
People is greater than after preset threshold, and robot control terminal gets the list information of the robot in fuzzy localization region, these machines
The list information of device people includes at least：Robot physical address information.
S15：The robot control terminal is fixed according to robot of the machine list information into the fuzzy localization region
It is instructed to the target search is sent；
In specific implementation process of the present invention, robot control terminal is according to the list information for obscuring localization region inner machine people
(physical address information of robot) accurately directive sending target search instruction；Robot can be achieved so accurately to specified
Corresponding instruction occurs for robot.
S16：Robot in the fuzzy localization region carries out target and searches after receiving the target search instruction
Rope.
In specific implementation process of the present invention, the robot in the fuzzy localization region is receiving the target search
After instruction, target search is carried out, including：Robot in the fuzzy localization region is receiving the target search instruction
Afterwards, the robot in the fuzzy localization region is based on flora foraging algorithm and carries out target search.
Wherein, the robot in the fuzzy localization region is based on flora foraging algorithm and carries out target search, including：Initially
Change the robot location information and target the fuzzy localization region probability；Upon initialization, the machine delimited
The region of search of device people；The robot motion direction moves from high to low according to the probability and carries out motion search to target,
Until completing the robot specifies search for region.
Specifically, the robot in fuzzy localization region, which is based on flora foraging algorithm, carries out target search, it is necessary first to
Initialize location information and target each segmented areas in fuzzy localization region of the robot in fuzzy localization region
Probabilistic information；It wherein, is that piecemeal is carried out according to the quantity for obscuring the robot in localization region, the quantity of piecemeal and robot
Quantity is corresponding；Robot carries out target search in the region as defined in its own, the direction of motion of robot is searched according to it
What the height of the probability value in rope region carried out, it generally moves from high to low and motion search is carried out to target, until completing institute
It states robot and specifies search for region.
In embodiments of the present invention, the search instruction that robot control terminal is sended over by solving user terminal, obtains
Search instruction content determines the fuzzy region of searched target according to search instruction content, and described search instruction is sent to mould
It pastes in the robot in region, the multirobot collaboration in realization control fuzzy region carries out target search, can quickly, accurately
Search predeterminated target.
Embodiment：
Referring to Fig. 2, Fig. 2 is to cooperate with target acquisition system based on the multirobot remotely controlled in the embodiment of the present invention
Structure composition schematic diagram.
As shown in Fig. 2, a kind of cooperate with target acquisition system based on the multirobot remotely controlled, the system comprises：
Command reception module 11：The control robot progress target that user terminal is sent is received for robot control terminal to search
The search instruction of rope, described search instruction are generated by user terminal user based on user terminal operations interface operation；
In specific implementation process of the present invention, described search instruction is based on user terminal operations interface by user terminal user
Operation generates, including：User carries out the certification of identity body at the user terminal operations interface, confirms that the user is legal use
Family；After confirming that the user is legitimate user, the user is allowed to carry out search instruction on user terminal operations interface
Operation is generated, described search instruction is generated.Communication between the user terminal and the robot control terminal is based on wired
Network, wireless network, mobile 4G network, mobile 5G net or bluetooth equipment are communicated；The robot control terminal and institute's machine
Communication between people is to be communicated based on wireless network, mobile 4G network or mobile 5G net.
Specifically, user terminal may include cell phone terminal, individual PC terminal perhaps tablet computer or others
Operable intelligent terminal；Robot control terminal can be the equipment such as cloud server.
User on the subscriber terminal operation interface scan for instruction generate operation when, the operation interface of user terminal is first
It needs user to carry out corresponding authentication, authentication can be carried out by way of inputting account password for user first；
User can also by recognition of face or be living body finger print identification；By above-mentioned identity identifying method to the identity of user
It is authenticated, to confirm that user is legal operation user, ensures the safety of operation, so that user can security control
Robot is worked accordingly according to the instruction of user.
After confirmation user is legitimate user, then allow to be confirmed as the user of legitimate user on the subscriber terminal
Operation interface on carry out corresponding operation, for example operation interface on the subscriber terminal scans for instruction and generates operation, and
Generate with operation relative to search instruction, carry out the mode such as communicating by wireless network, mobile 4G network or mobile 5G net and send out
It send to robot control terminal.
Instruct respond module 12：For robot control terminal response described search instruction, start robot control terminal
Instruction analysis program to described search instruction parse, obtain needed for search for target；
In specific implementation process of the present invention, the robot control terminal response described search instruction starts robot control
The instruction analysis program at end processed parses described search instruction, the target searched for needed for obtaining, including：The robot control
End group processed instructs in described search and obtains the physical address for the user terminal for sending described search instruction and the identity information of user；
The robot control terminal judges that described search refers to according to the physical address of the user terminal and the identity information of the user
Whether enable legal；If judging, described search instruction is illegal, and judging result is fed back to the user terminal；If described in judgement
Search instruction is legal, then responds described search instruction.
Wherein, the robot control terminal is sentenced according to the physical address of the user terminal and the identity information of the user
Whether disconnected described search instruction is legal, including：Judge that the whether described robot of the physical address of the user terminal prestores
Physical address；If it is not, then described search instruction is illegal；If so, using the identity information and the robot of the user
The user right set prestored matches, and whether subscriber identity information described in matching judgment, which possesses, sends search instruction permission.
Specifically, being pair first after the search instruction that robot control terminal sends on receiving user terminal
The search instruction is parsed accordingly, and the search instruction sended over includes the identity of the physical address of user terminal, user
The command information of information and search instruction can be obtained the transmission that the search instruction is included by the search instruction sended over
The command information of the physical address of the user terminal of the search instruction, the identity information of user and search instruction；It is being sent
After the physical address and subscriber identity information of the user terminal of search instruction, robot is needed according to user terminal physically
Location and subscriber identity information judge the legitimacy of the search instruction, if by the judgement, judge search instruction to be illegal,
Then robot is fed back to judging result on user terminal by former road；If judging search instruction for valid instruction, response should
Search instruction carries out operation relevant to instruction；The process for wherein judging the legitimacy of search instruction mainly includes：According to user
The physical address of terminal and the identity information of user judge the legitimacy of search instruction；Specifically, user terminal is first determined whether
Physical address whether be the physical address prestored in robot, the result of judgement is if not the object prestored on detection device
Manage address, then judge the search instruction for illegal instruction, the physical address if the determination result is YES prestored in robot, then
Matched using the user right set that the identity information of user is prestored with robot, matches the corresponding user's power of the search instruction
It whether there is the identity information of the user in limit set, if it is not, then the search instruction is illegal, if so, the search instruction closes
Method.
After confirming that the search instruction is valid instruction, the instruction analysis program started in robot control terminal searches this
Suo Zhiling is parsed, and the required search target in the search instruction information is obtained.
Fuzzy locating module 13：For carrying out fuzzy positioning to the target based on priori model, the mesh is obtained
Fuzzy localization region where marking；
In the specific implementation process, fuzzy positioning is carried out to target based on priori model, priori model is
Probabilistic model carries out the probability that fuzzy positioning is the position possibly being present at according to target to target using probabilistic model and carries out mould
Paste positioning, the mould where the sum of the probability of position that target possibly is present at is determined as target in 99.99% or more region
Paste localization region.
List information obtains module 14：For the robot control terminal based on the target where the fuzzy positioning
Region obtains the machine list information in the fuzzy localization region；
In specific implementation process of the present invention, the fuzzy positioning of the robot control terminal where based on the target
Region obtains the machine list information in the fuzzy localization region, including：The robot control terminal is based on the target
The fuzzy localization region at place, determines whether the robot in the fuzzy localization region is greater than preset threshold；If it is not, then expanding
Fuzzy localization region continues to determine in the fuzzy localization region after expanding whether be greater than preset threshold；If so, described in obtaining
Machine list information in fuzzy localization region, the machine list information include at least robot physical address information.
Specifically, the robot control terminal is according in the fuzzy localization region where the target that will be searched, confirmation should
The quantity of existing robot generally requires in the specific implementation process and obscures localization region at this in fuzzy localization region
Liang Tai robot or more is inside existed simultaneously, so in embodiments of the present invention, preset preset threshold is 1, is determining the mould
After the quantity for pasting robot existing in localization region, the quantity of robot existing in localization region is obscured using this
It is compared with preset threshold, judges whether that be greater than preset threshold needs to continue to expand fuzzy localization region if being not more than
Area, until the quantity until obscuring the robot in localization region is greater than preset threshold；Machine in fuzzy localization region
People is greater than after preset threshold, and robot control terminal gets the list information of the robot in fuzzy localization region, these machines
The list information of device people includes at least：Robot physical address information.
Instruction sending module 15：For the robot control terminal according to machine list information to the fuzzy positioning area
The instruction of target search described in robot directive sending in domain；
In specific implementation process of the present invention, robot control terminal is according to the list information for obscuring localization region inner machine people
(physical address information of robot) accurately directive sending target search instruction；Robot can be achieved so accurately to specified
Corresponding instruction occurs for robot.
Target search module 16：The target search instruction is being received for the robot in the fuzzy localization region
Afterwards, target search is carried out.
In specific implementation process of the present invention, the robot in the fuzzy localization region is receiving the target search
After instruction, target search is carried out, including：Robot in the fuzzy localization region is receiving the target search instruction
Afterwards, the robot in the fuzzy localization region is based on flora foraging algorithm and carries out target search.
Wherein, the robot in the fuzzy localization region is based on flora foraging algorithm and carries out target search, including：Initially
Change the robot location information and target the fuzzy localization region probability；Upon initialization, the machine delimited
The region of search of device people；The robot motion direction moves from high to low according to the probability and carries out motion search to target,
Until completing the robot specifies search for region.
Specifically, the robot in fuzzy localization region, which is based on flora foraging algorithm, carries out target search, it is necessary first to
Initialize location information and target each segmented areas in fuzzy localization region of the robot in fuzzy localization region
Probabilistic information；It wherein, is that piecemeal is carried out according to the quantity for obscuring the robot in localization region, the quantity of piecemeal and robot
Quantity is corresponding；Robot carries out target search in the region as defined in its own, the direction of motion of robot is searched according to it
What the height of the probability value in rope region carried out, it generally moves from high to low and motion search is carried out to target, until completing institute
It states robot and specifies search for region.
In embodiments of the present invention, the search instruction that robot control terminal is sended over by solving user terminal, obtains
Search instruction content determines the fuzzy region of searched target according to search instruction content, and described search instruction is sent to mould
It pastes in the robot in region, the multirobot collaboration in realization control fuzzy region carries out target search, can quickly, accurately
Search predeterminated target.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include：Read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
In addition, being provided for the embodiments of the invention above a kind of based on the multirobot remotely controlled collaboration target search
Method and system are described in detail, and should use specific case herein and carry out to the principle of the present invention and embodiment
It illustrates, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this field
Those skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up
Described, the contents of this specification are not to be construed as limiting the invention.
Claims (9)
1. a kind of cooperate with Target Searching Method based on the multirobot remotely controlled, which is characterized in that the method includes：
Robot control terminal receives the search instruction that the control robot that user terminal is sent carries out target search, and described search refers to
It enables and being generated by user terminal user based on user terminal operations interface operation；
The robot control terminal response described search instruction, starts the instruction analysis program of robot control terminal to described search
Instruction is parsed, the target searched for needed for obtaining；
Fuzzy positioning is carried out to the target based on priori model, obtains the fuzzy localization region where the target；
The fuzzy localization region of the robot control terminal where based on the target obtains in the fuzzy localization region
Machine list information；
Robot directive sending institute of the robot control terminal according to machine list information into the fuzzy localization region
State target search instruction；
Robot in the fuzzy localization region carries out target search after receiving the target search instruction.
2. multirobot according to claim 1 cooperates with Target Searching Method, which is characterized in that described search instruction by with
Family terminal user is generated based on user terminal operations interface operation, including：
User carries out the certification of identity body at the user terminal operations interface, confirms that the user is legitimate user；
After confirming that the user is legitimate user, the user is allowed to carry out search instruction on user terminal operations interface
Operation is generated, described search instruction is generated.
3. multirobot according to claim 1 cooperates with Target Searching Method, which is characterized in that the user terminal and institute
Stating the communication between robot control terminal is based on cable network, wireless network, mobile 4G network, mobile 5G net or bluetooth equipment
It is communicated；
Communication between the robot control terminal and robot of institute be based on wireless network, mobile 4G network or mobile 5G net into
Row communication.
4. multirobot according to claim 1 cooperates with Target Searching Method, which is characterized in that the robot control terminal
Described search instruction is responded, the instruction analysis program for starting robot control terminal parses described search instruction, obtains institute
The target that need to be searched for, including：
The robot control terminal instructs the physical address for obtaining the user terminal for sending described search instruction based on described search
With the identity information of user；
The robot control terminal is searched according to the physical address of the user terminal and the judgement of the identity information of the user
Whether Suo Zhiling is legal；
If judging, described search instruction is illegal, and judging result is fed back to the user terminal；
If judging, described search instruction is legal, responds described search instruction.
5. multirobot according to claim 4 cooperates with Target Searching Method, which is characterized in that the robot control terminal
Judge whether described search instruction is legal according to the identity information of the physical address of the user terminal and the user, including：
Whether the physical address for judging the user terminal is physical address that the robot prestores；
If it is not, then described search instruction is illegal；
If so, being matched using the user right set that the identity information of the user is prestored with the robot, matching is sentenced
Whether the subscriber identity information that breaks, which possesses, sends search instruction permission.
6. multirobot according to claim 1 cooperates with Target Searching Method, which is characterized in that the robot control terminal
The fuzzy localization region where based on the target obtains the machine list information in the fuzzy localization region, packet
It includes：
Fuzzy localization region of the robot control terminal where based on the target, determines the machine in the fuzzy localization region
Whether device people is greater than preset threshold；
If it is not, then expanding fuzzy localization region, continue to determine in the fuzzy localization region after expanding whether be greater than preset threshold；
If so, obtaining the machine list information in the fuzzy localization region, the machine list information is included at least
Robot physical address information.
7. multirobot according to claim 1 cooperates with Target Searching Method, which is characterized in that the fuzzy localization region
Interior robot carries out target search after receiving the target search instruction, including：
Robot in the fuzzy localization region is after receiving the target search instruction, in the fuzzy localization region
Robot is based on flora foraging algorithm and carries out target search.
8. multirobot according to claim 1 cooperates with Target Searching Method, which is characterized in that the fuzzy localization region
Interior robot is based on flora foraging algorithm and carries out target search, including：
Initialize the robot location information and target the fuzzy localization region probability；
Upon initialization, the region of search of the robot delimited；
The robot motion direction moves from high to low according to the probability and carries out motion search to target, until described in completing
Robot specifies search for region.
9. a kind of cooperate with target acquisition system based on the multirobot remotely controlled, which is characterized in that the system comprises：
Command reception module：The control robot that user terminal is sent, which is received, for robot control terminal carries out searching for target search
Suo Zhiling, described search instruction are generated by user terminal user based on user terminal operations interface operation；
Instruct respond module：For robot control terminal response described search instruction, start the instruction of robot control terminal
Analysis program parses described search instruction, the target searched for needed for obtaining；
Fuzzy locating module：For carrying out fuzzy positioning to the target based on priori model, the target place is obtained
Fuzzy localization region；
List information obtains module：For the robot control terminal based on the target where the fuzzy localization region,
Obtain the machine list information in the fuzzy localization region；
Instruction sending module：For the robot control terminal according to machine list information into the fuzzy localization region
The instruction of target search described in robot directive sending；
Target search module：For the robot in the fuzzy localization region after receiving the target search instruction, into
Row target search.
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