CN108942931A - A kind of method of multirobot real-time synchronization movement - Google Patents
A kind of method of multirobot real-time synchronization movement Download PDFInfo
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- CN108942931A CN108942931A CN201810792747.3A CN201810792747A CN108942931A CN 108942931 A CN108942931 A CN 108942931A CN 201810792747 A CN201810792747 A CN 201810792747A CN 108942931 A CN108942931 A CN 108942931A
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- robot
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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
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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
Abstract
The invention discloses a kind of method of multirobot real-time synchronization movement, include the following steps: that S1. carries out the layout of DID size to every robot；S2. specify the robot of a wherein DID value for main references object in real time, and the data information of broadcast synchronization movement；S3. other robot obtains the action data information of the specified robot in real time, synchronizes movement with specified robot for main references object；S4. if there is the movement of robot motion and specified robot is inconsistent, then coordination approach is executed automatically；If current specified robot breaks down, DID value is automatically exited from, the robot for selecting other DID value therein again is circulation execution S3 and S4 after main references object.The present invention can be realized the real-time synchronization Sports Performance of more robot stabilizations.
Description
Technical field
The present invention relates to intelligent robot technology fields, and in particular to a kind of method of multirobot real-time synchronization movement.
Background technique
The synchronous performance together of more robots, is an especially cruel thing, has very much ornamental value and interest.But
How to realize more (platform) robot real-time synchronization movements, and realize stability, is still current problem to be solved.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to propose a kind of side of multirobot real-time synchronization movement
Method can be realized the real-time synchronization Sports Performance of more robot stabilizations.
Used technical solution are as follows:
A kind of method of multirobot real-time synchronization movement, includes the following steps:
S1. the layout of DID size is carried out to every robot；
S2. specify the robot of a wherein DID value for main references object in real time, and the data information of broadcast synchronization movement；
S3. other robot obtains the movement of the specified robot with specified robot for main references object in real time
Data information synchronizes movement；
S4. if there is the movement of robot motion and specified robot is inconsistent, then coordination approach is executed automatically；If
Current specified robot breaks down, then automatically exits from DID value, the machine for selecting other DID value therein again is artificial
After main references object, circulation executes S3 and S4.
Further, executing coordination approach in S4 automatically is the automatic action data letter for reacquiring specified robot
Breath, re-starts synchronization action.
Further, select the smallest robot of DID value for main references object in S2；DID value time is then selected in S4 again
Small machine is main references object.
Further, if further including that the robot DID value that is newly added is smaller than the DID value of designated robot in S4, newly
The robot of addition enters back into S2 after keeping action consistency in the action data information for obtaining currently assigned robot,
Select the smallest robot of DID value for main references object.
Further, in S2, DID broadcast message is sent with every robot and gives other all robots, and receives other
The DID information of all robots judges whether DID value is minimum, joins based on the real-time specified selection the smallest robot of DID value of realization
Examine object.
The beneficial effects of the present invention are:
Size layout is carried out by robot to different DID values, then according to therefrom selecting to join based on a robot
Object is examined, other robot synchronizes movement with the specified artificial references object of machine, if there is robot motion and specifies
Robot movement it is inconsistent, then coordination approach is executed automatically, to realize that more robots move synchronously performance, and real-time
It adjusts and realizes stability.
Detailed description of the invention
Fig. 1 is the flow chart for the method that a kind of multirobot real-time synchronization of embodiment 1 moves.
Fig. 2 is the flow chart for the method that a kind of multirobot real-time synchronization of embodiment 2 moves.
Specific embodiment
The present invention is illustrated in further details with reference to the accompanying drawing, but protection scope of the present invention is not limited to
This.
Embodiment 1
Shown in Figure 1, a kind of method of multirobot real-time synchronization movement includes the following steps:
S1. the layout of DID size is carried out to every robot；Due to can all there is one uniquely to set when every robot dispatches from the factory
Standby number such as DID, we provide the size method of combination of DID according to DID, guarantee that each equipment is in different grades, i.e.,
Different DID values are in different grades.
S2. specify the robot of a wherein DID value for main references object in real time, and the data information of broadcast synchronization movement；
Most preferably, the present embodiment is to select the smallest robot of DID value for main references object；In this way, it is minimum that DID value can be set
Machine artificial grade highest, and grade from high to low is set according to DID value size.And the smallest judgement of DID value, than
Faster, the judgement of intermediate value has two layers big and small of selection to judge to the judgement speed of intermediate value (intermediate one value), thus speed compared with
Slowly.To realize that more robots judge automatically the smallest robot of DID value, and it is artificial to automatically select the smallest machine of DID value
Main references object, can use following steps: every robot of S21. sends DID broadcast message and gives other all robots, and
The DID information that other all robots are sent is received, every robot of S22. judges whether the value of itself is all machines
DID value in people is minimum, grade highest, if it is not, then stopping sending DID broadcast message, and keeps receiving broadcast data；Such as
Fruit is then to be used as main references object, continues to send DID broadcast message and broadcast transmission synchronization action data information.
S3. other robot obtains the movement of the specified robot with specified robot for main references object in real time
Data information synchronizes movement；Namely at this point, other robot with the smallest robot of DID value for main references object, it is real
When obtain the action data information of the smallest robot broadcast transmission of DID value, and execute synchronization action.
S4. if there is the movement of robot motion and specified robot is inconsistent, then coordination approach is executed automatically；Also
It is the automatic action data information for reacquiring specified robot, re-starts synchronization action.And it is minimum to obtain DID value in real time
Robot broadcast transmission action data information, and execute synchronization action.If current specified robot breaks down,
DID value is automatically exited from, the robot for selecting other DID value therein again is circulation execution S3 and S4 after main references object.
At this point, be again time small machine of selected DID value being main references object, because the small machine of DID value time is current institute at this time
There is the smallest value of DID value of robot, is the highest robot of present level.When selecting again, a kind of mode is still to can refer to
The step of S21 and S22, carries out.It re-starts every robot transmission DID broadcast message of S21. and gives other all robots, and
The DID information that other all robots are sent is received, every robot of S22. judges whether the value of itself is all machines
DID value in people is minimum, grade highest, if it is not, then stopping sending DID broadcast message, and keeps receiving broadcast data；Such as
Fruit is then to be used as main references object, continues to send DID broadcast message and broadcast transmission synchronization action data information.
Another way is, since secondary small robot obtains the information of the robot less than DID value more smaller than oneself,
It is easy to judge that the smallest robot of former DID value breaks down, then can promote automatically as the robot of main references object.This
And most preferably with the reason that the smallest robot of DID value is main references object and the effect being able to achieve.
The communications protocol during realization of the method for above-mentioned multirobot real-time synchronization movement, between more robots
Frame can be such that
| Frame head (2B) | Device number (2B) | Function code (1B) | Data length (1B) | Data field (nB) | Check bit |
| 0xEF 0xFE | DID | FUN | LEN | DAT | SUM |
Wherein, the range of DID can be 0x0001-0x7FFF, other reservations；SUM is that the sum of all bytes takes low byte；
In this process, there are mainly of two types (DID broadcast message and synchronization action data information) for data frame:
1, broadcast frame, the following FUN=0xF0 of format
| Frame head (2B) | Device number (2B) | Function code (1B) | Data length (1B) | Check bit |
| 0xEF 0xFE | DID | 0xF0 | 0x00 | SUM |
2, synchronization frame, format is as follows, FUN=0x01
| Frame head (2B) | Device number (2B) | Function code (1B) | Data length (1B) | Data field (nB) | Check bit |
| 0xEF 0xFE | DID | 0x01 | 0x04 | DAT | SUM |
Wherein, (2B) is numbered in movement group # (2B)+action group of the DAT containing execution, totally 4 bytes.
The explanation of above-mentioned communications protocol frame and broadcast frame and synchronization frame is to show that this multirobot real-time synchronization is transported
In dynamic method, the communication between more robots can be implemented and broadcasted and a kind of synchronous mode.
It is executed by the circulation of the above method, realizes more robots and move synchronously performance, and it is more to adjust realization in real time
The real-time synchronization of platform robot stabilization is performed.
Embodiment 2
It on the basis of embodiment 1, further include robot if there is being newly added in S4, then the new robot of the addition
Whether the value for judging automatically itself is smaller than the DID value of specified robot, and higher grade, if it is not, then receiving specified machine
The synchronization action data information of device people (main references object) executes synchronization action；If it is, the robot being newly added is obtaining
The action data information of currently assigned robot enters back into S2 after keeping action consistency, selects the smallest machine of DID value
People (robot to be newly added at this time) is main references object, continues to send DID broadcast message and broadcast transmission synchronization action
Data information.
At this point, referring back to shown in Fig. 2, robot polling broadcast data that current (original) is specified newly are added when receiving
The DID broadcast message of robot then judges whether the new robot of the addition is (namely DID than the higher grade of itself again
Whether lower it is worth), if it is, stopping sending DID broadcast message, and keep receiving broadcast data；Acquisition is newly specified in real time
The action data information of robot (the new robot of addition), synchronizes movement；
Other than the robot that the robot being newly added and current (original) are specified, other robot receives the addition
New robot DID broadcast message and synchronization action data information, then directly execute synchronization action information.
In Fig. 2, path 1. is the path for the new robot being added, and path 2. is current (original) specified robot
Path；3. other than being the robot that robot and current (original) in addition to being newly added specify, the path of other robot.
Since the new robot of addition must first obtain the operating status of currently assigned robot, action consistency is kept
Seizing for main references object status is just carried out afterwards, therefore will not destroy the action consistency of original robot.
The series of detailed descriptions listed above are illustrated only for possible embodiments of the invention,
The protection scope that they are not intended to limit the invention, it is all without departing from equivalent embodiment made by technical spirit of the present invention or change
It should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of method of multirobot real-time synchronization movement, which comprises the steps of:
S1. the layout of DID size is carried out to every robot；
S2. specify the robot of a wherein DID value for main references object in real time, and the data information of broadcast synchronization movement；
S3. other robot obtains the action data of the specified robot with specified robot for main references object in real time
Information synchronizes movement；
S4. if there is the movement of robot motion and specified robot is inconsistent, then coordination approach is executed automatically；If current
Specified robot breaks down, then automatically exits from DID value, join based on the robot for selecting other DID value therein again
After examining object, circulation executes S3 and S4.
2. the method for multirobot real-time synchronization movement according to claim 1, which is characterized in that execute association in S4 automatically
Tune method is the automatic action data information for reacquiring specified robot, re-starts synchronization action.
3. the method for multirobot real-time synchronization movement according to claim 1, which is characterized in that select DID value in S2
The smallest robot is main references object；Then selecting the small machine of DID value time in S4 again is main references object.
4. the method for multirobot real-time synchronization movement according to claim 3, which is characterized in that if further including in S4
The robot DID value being newly added is smaller than the DID value of designated robot, then the robot being newly added is obtaining currently assigned machine
The action data information of people enters back into S2 after keeping action consistency, selects the smallest robot of DID value for main reference pair
As.
5. the method for multirobot real-time synchronization movement according to claim 3, which is characterized in that in S2, with every machine
Device human hair send DID broadcast message to give other all robots, and receives the DID information of other all robots, judges that DID value is
No minimum realizes that real-time specify selects the smallest robot of DID value for main references object.
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| CN201810792747.3A CN108942931B (en) | 2018-07-18 | 2018-07-18 | Method for real-time synchronous movement of multiple robots |
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| CN108942931B CN108942931B (en) | 2020-07-24 |
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| CN106685666A (en) * | 2017-02-04 | 2017-05-17 | 联想(北京)有限公司 | Robot communication method and robot |
| CN107598925A (en) * | 2017-09-07 | 2018-01-19 | 南京昱晟机器人科技有限公司 | A kind of robot cluster control method |
| CN107733531A (en) * | 2016-08-10 | 2018-02-23 | 向忠宏 | Personal identification method and system between multirobot |
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2018
- 2018-07-18 CN CN201810792747.3A patent/CN108942931B/en not_active Expired - Fee Related
Patent Citations (8)
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| JP2004304714A (en) * | 2003-04-01 | 2004-10-28 | Sony Corp | Information processing system, information processing apparatus, information processing method, and program |
| CN105785821A (en) * | 2016-03-31 | 2016-07-20 | 北京海尔广科数字技术有限公司 | Method and device for robot motion synchronization |
| CN107733531A (en) * | 2016-08-10 | 2018-02-23 | 向忠宏 | Personal identification method and system between multirobot |
| CN106154890A (en) * | 2016-09-21 | 2016-11-23 | 旗瀚科技有限公司 | A kind of multiple stage robot synchronizes behavioral approach |
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