CN110196595A - A kind of multi-robots system based on infrared ray simulation artificial information's element - Google Patents
A kind of multi-robots system based on infrared ray simulation artificial information's element Download PDFInfo
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- CN110196595A CN110196595A CN201910470656.2A CN201910470656A CN110196595A CN 110196595 A CN110196595 A CN 110196595A CN 201910470656 A CN201910470656 A CN 201910470656A CN 110196595 A CN110196595 A CN 110196595A
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- 238000004088 simulation Methods 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 66
- 238000004891 communication Methods 0.000 claims abstract description 19
- 239000000758 substrate Substances 0.000 claims abstract description 18
- 239000011521 glass Substances 0.000 claims abstract description 10
- 239000003016 pheromone Substances 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 210000004209 hair Anatomy 0.000 claims description 2
- 238000003491 array Methods 0.000 claims 1
- 239000005341 toughened glass Substances 0.000 description 17
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 206010021703 Indifference Diseases 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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- 230000004927 fusion Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
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Abstract
The invention discloses a kind of multi-robots systems based on infrared ray simulation artificial information's element, including transparent substrates, multiple Group Robots and multiple infrared receiving/transmission repeaters that can be moved in glass substrate, each Group Robots are equipped with infrared transceiver, and infrared transceiver includes two symmetrical infrared remote receivers and multiple infrared transmitters according to the setting of multiple orientation；The infrared receiving/transmission repeater includes conical shell, taper inner casing, infrared remote receiver and infrared transmitter, taper inner casing is coaxial to be fixed in conical shell, infrared transmitter is set between conical shell and taper inner casing, the inner face of conical shell is infrared external reflection face, Group Robots be in communication with each other using infrared transceiver and with infrared receiving/transmission repeater communication, moved on transparent substrates using the ant group algorithm based on virtual information element.The communication of Group Robots part of the present invention is stablized, simple and convenient in whole control, does not do excessive intervention manually, there is stronger anti-interference ability.
Description
Technical field
The invention belongs to robot fields, are related to a kind of Group Robots technology, are based on infrared ray more particularly to one kind
Simulate the multi-robots system of artificial information's element.
Background technique
With the development of science and technology, Group Robots technology is maked rapid progress, since multi-robots system can allow group's machine
Connection is established between device people, work compound is completed particular task, studied extensively by major universities' research institutes.In order to improve group
Body robot system individual amount, it is necessary to which robot itself uses distributed AC servo system, to reduce control amount.
In order to enable Group Robots use distributed AC servo system, the energy for the mutual perception for needing to have certain between robot
Power, and to accomplish between robot and robot " indifference ", to achieve the purpose that increase the robot number of individuals upper limit.At present
Existing multi-robots system mostly uses visible light as communication media, transmits specified number according to extremely limited, while with showing
Communication can not mostly get rid of centerized fusion as auxiliary and data collection, and such multi-robots system is often in number
It is restricted in amount.And the complexity of system is higher.In addition present Group Robots individual is different from there is oneself between individual
ID number, in this way give every robot burning program when it is also very complicated, largely effect on debugging efficiency and using effect,
It will increase certain cost of labor simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of structures to be simple and convenient to operate, efficient economizing, does not need manual intervention, and energy
The multi-robots system in enough plain, reliable short range data transmission channels of stable simulation artificial information.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
It is a kind of based on infrared ray simulation artificial information's element multi-robots system, it is characterised in that: including transparent substrates,
Multiple Group Robots and multiple infrared receiving/transmission repeaters that can be moved in glass substrate, each Group Robots are all provided with
There is infrared transceiver, the infrared transceiver includes two symmetrical infrared remote receivers and is arranged according to multiple orientation multiple red
External transmitter, multiple infrared receiving/transmission repeater intervals are fixed on transparent substrates bottom；The infrared receiving/transmission repeater includes taper
Shell, taper inner casing, infrared remote receiver and infrared transmitter, the taper inner casing is coaxial to be fixed in conical shell, infrared
Transmitter is set between conical shell and taper inner casing, and the infrared remote receiver is set in taper inner casing, will by taper inner casing
Infrared remote receiver and infrared transmitter separate reduction and interfere with each other, and the inner face of the conical shell is infrared external reflection face, red
The infrared emission signal area of tapered surface is formed above outer relay traffic device, the Group Robots are mutual by infrared transceiver
Communication and with infrared receiving/transmission repeater communication, group is carried out on transparent substrates using the ant group algorithm based on virtual information element
Movement.
As an improvement, the infrared transmitter of the Group Robots has 4 or 8 or 16.
As an improvement, the transparent substrates are glass panel substrate, the infrared receiving/transmission repeater has 10-30, Duo Gehong
Outer relay traffic device array forms virtual information element map on the glass substrate.
As an improvement, the Group Robots include the electricity of rack, the traveling wheel set on frame lower and driving traveling wheel
Machine, the frame top are successively arranged infrared transceiver and control the master control borad of robot, and the rack is equipped with to master control borad
With the power supply of motor power supply.
As an improvement, the master control borad is equipped with the six axis gyroscopes for recording itself mileage information of single Group Robots,
The rack, which is equipped with detection, will finally find the Hall sensor of target.
As an improvement, the means of communication of the multi-robots system are as follows: single Group Robots pass through six axis gyroscopes
Integral, estimate the mileage information of itself, and pass on course information, while group's machine to infrared receiving/transmission repeater around it
People can select surrounding infrared transceiver to issue the most dense direction advance of pheromone concentration.
As an improvement, the infrared receiving/transmission repeater receives the mileage information that surrounding Group Robots issue, it is denoted as S1,
S2, S3 ... Sn, n are natural number, and Sn is transmited to it the Group Robots of mileage information for n-th around the infrared receiving/transmission repeater
Mileage information, then the infrared receiving/transmission repeater can select mileage numerically that the smallest mileage, i.e. Si=min at this time
(S1, S2, S3 ... Sn), and the pheromone concentration of itself is updated to 1/Si, it is minimum by selection surrounding Group Robots mileage
Numerical value, to find the most short mileage for reaching this Group Robots and needing, while pheromone concentration is with regard to highest.
As an improvement, remembering that pheromone concentration information received by eight infrared transceivers on Group Robots is respectively
Q1, Q2, Q2…Q8, not receiving information is then 0, first determines whether maximum Q in this eight pheromone concentrationsj=max (Q1, Q2,
Q3…Q8), the direction of advance of Group Robots is exactly Q at this timejThis infrared remote receiver in the orientation of the Group Robots itself,
When eight infrared receiving tubes are not received by pheromones, Group Robots are in roaming state, and direction of advance is random.
The medicine have the advantages that
The present invention provides a kind of multi-robots systems based on infrared ray simulation artificial information's element.Pass through group's machine
Local communication between people and infrared transceiver can be identification and perception of the ant to pheromone concentration in simulation nature.
Meanwhile there is no difference between Group Robots individual and individual there is no ID numbers.Debugging cost is greatly saved, decreases
The trouble of multiple burned distinct program.As long as all Group Robots have a set of program can be realized as.
And the infrared communication hardware that the Group Robots in the present invention use is extremely simple, and infrared transmitting tube connects with infrared
Closed tube is low in cost, and preferable for varying environment adaptability, also very strong simultaneously for environment light anti-interference ability.And it is red
Outer transmitting-receiving agreement is simple, and transplantability is preferable, while the unified carrier wave using 38k modulation of transmitting of infrared ray, in short haul connection
It is upper more stable, and the signal that is emitted through ovennodulation of infrared transmitting tube by multiple infrared receiving tubes while can receive,
Ensure that the pheromone concentration information that infrared receiving/transmission repeater emits around is perceived and identifies in a stable region.
In addition infrared receiving/transmission repeater is independent system one by one, by Group Robots around infrared receiving/transmission repeater records
Journey information updates self information element concentration, while launching by infrared transmitting tube the information of oneself to surrounding with the fixed cycle
Plain concentration.The present invention provides a kind of group's individual robot systems based on infrared ray simulation artificial information's element, are that one kind can
The multi-robots system of stable simulation artificial information element and reliable short range data transmission channel.
Group Robots of the present invention include driving unit and energy resource system, red from being uniformly mounted on eight directions
Outer receiver, for distinguishing the direction advanced, Group Robots always advance towards the most dense direction of surrounding pheromone concentration, together
When be also the short direction of other robot mileage.Robot building cost substantially reduces, while communication of the robot in part is steady
It is fixed, it is simple and convenient in whole control, excessive intervention is not done manually, there is stronger anti-interference ability.
Detailed description of the invention
Fig. 1 is multi-robots system structural schematic diagram of the present invention.
Fig. 2 is multi-robots system side view of the present invention.
Fig. 3 is tempered glass partial top view in the embodiment of the present invention.
Fig. 4 is single infrared receiving/transmission repeater schematic diagram in Fig. 2.
Fig. 5 is single Group Robots choice direction principle schematic diagram in the embodiment of the present invention.
Fig. 6 is Group Robots of the present invention and infrared receiving/transmission repeater communication schematic diagram.
Fig. 7 is Group Robots program execution flow figure.
Fig. 8 is Group Robots three dimensional structure diagram in the embodiment of the present invention.
Fig. 9 is infrared receiving/transmission repeater three dimensional structure diagram in the embodiment of the present invention.
1- tempered glass, 2- infrared receiving/transmission repeater, 201- conical shell, 202- taper inner casing, 203- infrared transmitter,
204- infrared remote receiver, 3- Group Robots, 301- infrared transmitter, 302- infrared remote receiver, 303- traveling wheel, the bottom 304-
Disk, 305- master control borad, 306- rack.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, concrete condition can be regarded and understand that above-mentioned term exists
Concrete meaning in the present invention.
In addition, in the description of the present invention, unless otherwise indicated, " multiple ", " more ", " multiple groups " be meant that two or
It is more than two.
As shown in Figures 1 to 9, the embodiment of the invention provides a kind of multi-robots system, including it is tempered glass 1, red
Outer relay traffic device 2 and Group Robots 3.1 surfacing of tempered glass and light transmission.Infrared receiving/transmission repeater 2 is whole to be presented cone
Body.Uniformly and equidistantly array is installed on 1 lower section of tempered glass.Tempered glass 1 can allow infrared ray to travel freely through.To tempered glass
About 1 progress infrared communication provides possibility physically.Each Group Robots 3 are equipped with infrared transceiver, described
Infrared transceiver includes two symmetrical infrared remote receivers 302 and 8 infrared transmitters 301 according to the setting of eight orientation, institute
Stating infrared receiving/transmission repeater 2 includes conical shell 201, taper inner casing 202, infrared remote receiver 204 and infrared transmitter 203, institute
State that taper inner casing 202 is coaxial to be fixed in conical shell 201, infrared transmitter 203 is set to conical shell 201 and taper inner casing
Between 202, the infrared remote receiver 204 is set in taper inner casing 202, by taper inner casing 202 by infrared remote receiver 204 and red
External transmitter 203 separates reduction and interferes with each other, and the inner face of the conical shell 201 is infrared external reflection face, in infrared receiving/transmission
Above device 2 formed tapered surface infrared emission signal area, the Group Robots 3 by infrared transceiver be in communication with each other with
And communicated with infrared receiving/transmission repeater 2, group movement is carried out on transparent substrates using the ant group algorithm based on virtual information element.
Multiple infrared receiving/transmission repeaters 2 form virtual information element map on tempered glass 1, for example, in the embodiment of the present invention it is 25 infrared
Relay traffic device 2 forms pheromones map in 1 array of tempered glass, as shown in Figure 1.Each infrared receiving/transmission repeater 2 possesses solely
Vertical power-supply system and functions of receiving and transmitting infrared, infrared receiving/transmission repeater 2 is whole to be presented centrum, and the infrared ray launched is presented one
The conical surface, enables neighbouring Group Robots 3 to receive infrared information, and infrared receiving/transmission repeater 2 has the energy of internal loopback
Power, can be by infrared receiver to the mileage information of Group Robots 3, and updates self information element concentration, then with one
The specific peripherad Group Robots 3 of tranmitting frequency send the pheromone concentration of itself.
For the present invention, 3 body structures of Group Robots are unlimited, can move on tempered glass 1, must
Indispensable component is control panel and the infrared transceiver for communication, for it is one such for example, as shown in figure 8,
The Group Robots 3 include the motor of rack 306, the traveling wheel 303 set on 306 lower part of rack and driving traveling wheel 303, institute
State the master control borad 305 for being successively arranged infrared transceiver at the top of rack 306 and controlling robot, 305 model of master control borad
Stm32f103c8t6, the rack 306 are equipped with the power supply powered to master control borad 305 and motor, set on the master control borad 305
There are the six axis gyroscope mpu6050 for recording single itself mileage information of Group Robots 3, the rack 306 is equipped with detection most
The Hall sensor of target is found afterwards, and single Group Robots 3 are individually powered using battery, can be received by infrared transceiver
The infrared information of surrounding Group Robots 3 and infrared receiving/transmission repeater 2, and pass through the group's machine around of infrared transmitter 301
People 3 and infrared receiving/transmission repeater 2 emit the mileage information of itself master control borad 305 record.The bottom of rack 306 is circular base plate
It 304 and being staggeredly placed the chassis 304 as driving motor by two decelerating motors, the present embodiment decelerating motor is direct current generator,
Even a traveling wheel 303 is turned to by differential.Position once can certainly be installed in the rack 306 of Group Robots 3
Sensor and radar etc, it prevents from mutually colliding between Group Robots 3.
The means of communication of the multi-robots system are as follows: single Group Robots 3 pass through the integral of six axis gyroscopes, estimate
The mileage information of itself is counted, and passes on course information to infrared receiving/transmission repeater 2 around it, while the Group Robots 3 can select
It selects infrared receiving/transmission repeater 2 around and issues the most dense direction advance of pheromone concentration.
The infrared receiving/transmission repeater 2 receives the mileage information that surrounding Group Robots 3 issue, and is denoted as S1, S2, S3 ...
Sn, n are natural number, and Sn is to be transmited to it in the Group Robots 3 of mileage information for n-th around the infrared receiving/transmission repeater 2
Journey information, then the infrared receiving/transmission repeater 2 can select mileage numerically that the smallest mileage at this time, i.e. Si=min (S1,
S2, S3 ... Sn), and the pheromone concentration of itself is updated to 1/Si, by selecting the smallest number of 3 mileage of surrounding Group Robots
Value, to find the most short mileage for reaching this Group Robots 3 and needing, while pheromone concentration is with regard to highest.
Remember that pheromone concentration information received by eight infrared transceivers on Group Robots 3 is respectively Q1, Q2,
Q2…Q8, not receiving information is then 0, first determines whether maximum Q in this eight pheromone concentrationsj=max (Q1, Q2, Q3…Q8),
The direction of advance of Group Robots 3 is exactly Q at this timejThis infrared remote receiver 302 in the orientation of the Group Robots 3 itself, when
Eight infrared receiving tubes are not received by pheromones, and Group Robots 3 are in roaming state, and direction of advance is random.
1 platform of tempered glass, can prop up Group Robots 3 and walk on glass surface, be both that can allow infrared ray
Through transparent glass, allow 3 trolley of Group Robots that can transmit information by infrared ray with the infrared transceiver below glass.
When in use, Group Robots 3 are placed on tempered glass 1 to multi-robots system provided in an embodiment of the present invention
On, Group Robots 3 can be in the cofree no obstacle of sliding of tempered glass 1, and Group Robots 3 can be according to user's needs
And it accelerates.And without adjusting to other components in system while accelerating, system still is able to normally
Operation.
The object of the present invention is to provide a kind of structures to be simple and convenient to operate, efficient economizing, and can stable simulation manually believe
The multi-robots system in plain, the reliable short range data transmission channel of breath.
Infrared transceiver provided in an embodiment of the present invention, infrared receiving/transmission repeater 2 are installed on 1 bottom of tempered glass.Due to
Centrum is presented in monnolithic case, and the infrared ray that infrared receiving/transmission repeater 2 issues can dissipate around.Group Robots 3 are by every
The infrared signal of the sending of infrared receiving/transmission repeater 2, while Group Robots can be perceived when near a infrared receiving/transmission repeater 2
3 itself the infrared signals of transmitting can also be received by infrared receiving/transmission repeater 2.
Further, Group Robots 3 itself can receive red by 8 infrared remote receivers 302 discrimination of itself
The direction of external signal is to provide direction of advance for itself.By red to perceive to collected infra-red intensity in each direction
The direction of external transmitter 301.Overall structure is simple, also very cheap as the cost of navigation using this infrared receiver, to criticize
Amount manufacture provides possibility.
As shown in figures 4 and 9, what infrared receiving/transmission repeater 2 was launched is a conical wave, when the infrared light launched,
Reach the height of Group Robots 3, the conical surface that the infrared light that the infrared transceiver under entire tempered glass 1 issues is formed is sufficient
Enough cover entire tempered glass 1.Guarantee that Group Robots 3 can receive navigation information in every bit.
If Fig. 5 Group Robots 3 are two infrared receiving/transmission repeaters 2 hairs in front of judgement in the principle of selection infrared receiving/transmission
Infrared light out, even if the pheromone concentration that Group Robots 3 include towards the sending infrared ray of infrared receiving/transmission repeater 2 is denseer
Advance in direction.The basic principle advanced forward as Group Robots 3.
Fig. 6 is illustrated and is carried out information exchange, group's machine through tempered glass 1 between infrared transceiver and Group Robots 3
The mileage information of oneself is sent to infrared receiving/transmission repeater 2 by infrared information by device people 3, and infrared receiving/transmission repeater 2 will receive
To mileage information be converted to pheromone concentration, and be sent to other Group Robots 3 around, provided for their navigation
Information.
The program flow diagram for the Group Robots 3 that Fig. 7 is shown provides the advance principle that Group Robots 3 find path,
Entirety is divided into search of food and finds two tasks of nest, and Group Robots 3 are by receiving the infrared of infrared receiving/transmission repeater 2
Signal is navigated and is judged, the most dense side of pheromone concentration in the infrared information always issued towards infrared receiving/transmission repeater 2
It marches forward, Group Robots 3 are by the place for commenting rate higher, and the concentration of pheromones is relatively denseer, because of the decaying meeting of pheromones
The robot newly arrived updates again, and passes through the prolonged iteration of Group Robots 3, and Group Robots 3 are whole always to be selected
Path is shortest, then pheromone concentration can be thus continually updated on this paths, a shortest path is formed, altogether before robot
Into.
In addition, infrared receiving/transmission repeater 2 uses label current point pheromone concentration without difference between individual and individual,
And current point pheromone concentration is propagated to Group Robots 3 around.It substantially reduces and manually acquires each virtual information element
The workload of concentration, at the same it is unrestricted in quantity, and the function of monomer simply also ensure that such infrared receiving/transmission relaying significantly
2 the operation is stable of device, reliable performance.
For the relatively existing technical solution of the present invention, distribution ID number, robot and machine are not needed between Group Robots 3
It is not different between device people, reduces the complexity of information exchange, this realizes all the hardware and software of multi-robots system
No small convenience is provided, while also allowing the upper limit of the number of Group Robots 3 unrestricted.Ensure that robot can be by continuous
Iteration constantly updates the value of virtual information element in infrared receiving/transmission repeater 2, comes so that a shortest path is enough found in itself final lane
Diameter realizes target search task.
It is seen that the system architecture of the present embodiment simplifies the module of software and hardware at 3 end of Group Robots, robot it
Between uniformity greatly improve, the communication between robot and infrared receiving/transmission repeater 2 reduces global information in local stability
Processing, the big complexity for reducing system provides possibility to expand more robots.It is real by this infrared part simultaneously
Shi Tongxin can guarantee robot not by external environmental interference, while this solution is easily achieved simply may be used in engineering
It leans on.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of multi-robots system based on infrared ray simulation artificial information's element, it is characterised in that: including transparent substrates, more
A Group Robots and multiple infrared receiving/transmission repeaters that can be moved in glass substrate, each Group Robots are equipped with
Infrared transceiver, the infrared transceiver include two symmetrical infrared remote receivers and are arranged according to multiple orientation multiple infrared
Transmitter, multiple infrared receiving/transmission repeater intervals are fixed on transparent substrates bottom；The infrared receiving/transmission repeater includes outside taper
Shell, taper inner casing, infrared remote receiver and infrared transmitter, the taper inner casing is coaxial to be fixed in conical shell, infrared hair
Emitter is set between conical shell and taper inner casing, and the infrared remote receiver is set in taper inner casing, will be red by taper inner casing
Outer receiver and infrared transmitter separate reduction and interfere with each other, and the inner face of the conical shell is infrared external reflection face, infrared
The infrared emission signal area of tapered surface is formed above relay traffic device, the Group Robots pass through the intercommunication of infrared transceiver phase
Letter and with infrared receiving/transmission repeater communication, group's fortune is carried out on transparent substrates using the ant group algorithm based on virtual information element
It is dynamic.
2. multi-robots system as described in claim 1, it is characterised in that: the infrared transmitter of the Group Robots has
4 or 8 or 16.
3. multi-robots system as claimed in claim 2, it is characterised in that: the transparent substrates are glass panel substrate, institute
Stating infrared receiving/transmission repeater has 10-30, and multiple infrared receiving/transmission repeater arrays form virtual information element ground on the glass substrate
Figure.
4. multi-robots system as claimed in claim 3, it is characterised in that: the Group Robots include rack, are set to
The traveling wheel of frame lower and the motor of driving traveling wheel, the frame top are successively arranged infrared transceiver and control robot
Master control borad, the rack is equipped with the power supply powered to master control borad and motor.
5. multi-robots system as claimed in claim 4, it is characterised in that: the master control borad is equipped with and records single group
Six axis gyroscopes of robot itself mileage information, the rack, which is equipped with detection, will finally find the Hall sensor of target.
6. multi-robots system as claimed in claim 5, it is characterised in that: the means of communication of the multi-robots system
Are as follows: single Group Robots pass through the integral of six axis gyroscopes, estimate the mileage information of itself, and into infrared receiving/transmission around it
Course information is passed on after device, while the Group Robots can select surrounding infrared transceiver to issue the most dense direction of pheromone concentration
Advance.
7. multi-robots system as claimed in claim 6, it is characterised in that: the infrared receiving/transmission repeater receives surrounding group
The mileage information that body robot issues is denoted as S1, and S2, S3 ... Sn, n are natural number, and Sn is n-th around the infrared receiving/transmission repeater
The mileage information of a Group Robots for being transmited to it mileage information, then the infrared receiving/transmission repeater can select mileage number at this time
That the smallest mileage in value, i.e. Si=min (S1, S2, S3 ... Sn), and the pheromone concentration of itself is updated to 1/Si, lead to
The smallest numerical value of Group Robots mileage around selection is crossed, to find the most short mileage for reaching this Group Robots and needing,
Pheromone concentration is with regard to highest simultaneously.
8. multi-robots system as claimed in claim 7, it is characterised in that: eight infrared receiving/transmissions on note Group Robots
Pheromone concentration information received by device is respectively Q1, Q2, Q2…Q8, not receiving information is then 0, first determines whether this eight
Maximum Q in pheromone concentrationj=max (Q1, Q2, Q3…Q8), the direction of advance of Group Robots is exactly Q at this timejThis is infrared
Receiver is in the orientation of the Group Robots itself, when eight infrared receiving tubes are not received by pheromones, Group Robots
In roaming state, direction of advance is random.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470656.2A CN110196595B (en) | 2019-05-31 | 2019-05-31 | Swarm robot system based on infrared ray simulation artificial pheromone |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470656.2A CN110196595B (en) | 2019-05-31 | 2019-05-31 | Swarm robot system based on infrared ray simulation artificial pheromone |
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| Publication Number | Publication Date |
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| CN110196595A true CN110196595A (en) | 2019-09-03 |
| CN110196595B CN110196595B (en) | 2021-12-21 |
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| CN201910470656.2A Active CN110196595B (en) | 2019-05-31 | 2019-05-31 | Swarm robot system based on infrared ray simulation artificial pheromone |
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