CN110347149A - The method, apparatus and multi-robot system that control multi-robot system is recharged - Google Patents
The method, apparatus and multi-robot system that control multi-robot system is recharged Download PDFInfo
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- CN110347149A CN110347149A CN201910438824.XA CN201910438824A CN110347149A CN 110347149 A CN110347149 A CN 110347149A CN 201910438824 A CN201910438824 A CN 201910438824A CN 110347149 A CN110347149 A CN 110347149A
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
Method provided by the invention includes the direction movement where controlling the first Robot first object charging pile, judge that can first robot receive the first object charging pile issues first after moving to the first predeterminated position and recharge signal, if can receive described first recharges signal, it then controls first robot and is moved on the first object charging pile from first predeterminated position and charged, wherein the first object charging pile is recharging signal using external issue of rear stopping by first robot, second robot is controlled according to charging on the motion to the second target charging pile of first robot, the wherein artificial other at least robots in the multi-robot system in addition to first robot of second machine.
Description
Technical field
The present invention relates to robotic technology field more particularly to it is a kind of control multi-robot system recharged method,
Device, multi-robot system and computer readable storage medium.
Background technique
For single robot system, the working efficiency of multi-robot system is then higher, can be widely applied to each
In a field.
However in the prior art, when more robots in multi-robot system need to be charged simultaneously, in wait fill
Certain robot of electricity condition nearby attempts to use the charging it is possible to moving to some current occupied charging pile
Stake is charged, it is clear that this exploration charging modes are than relatively time-consuming and inefficiency.
Therefore it's necessary to propose a new technical scheme, to solve the above technical problems.
Summary of the invention
In consideration of it, the embodiment of the invention provides a kind of method, apparatus for being recharged of control multi-robot system and more
Robot system, by control robot receive recharge signal after continue from current preset position to target charging pile direction
Movement can continue to be moved from current preset position to occupied charging pile direction, exist to save robot to avoid robot
It carries out recharging the time consumed by heuristic process, is conducive to improve the efficiency that robot recharge exploration.
The first aspect of the embodiment of the present invention provides a kind of method that control multi-robot system is recharged, comprising:
Control the direction movement where the first Robot first object charging pile；
Judge that can first robot receive the first object charging pile hair after moving to the first predeterminated position
First out recharges signal；
If can receive described first recharges signal, controls first robot and moved from first predeterminated position
It charges on to the first object charging pile, wherein the first object charging pile is after by first robot use
Stop externally issuing and recharges signal；
Second robot is controlled according on the motion to the second target charging pile of first robot
Charge, wherein second machine artificially in the multi-robot system in addition to first robot it is other at least
One robot.
The second aspect of the embodiment of the present invention provides a kind of device that control multi-robot system is recharged, comprising:
First control module is moved for the direction where controlling the first Robot first object charging pile；
Judgment module, for judging that can first robot receive described first after moving to the first predeterminated position
The first of target charging pile sending recharges signal；
Second control module controls first robot from institute if recharging signal for that can receive described first
It states the first predeterminated position and moves on the first object charging pile and charge, wherein the first object charging pile is by institute
Stating the first robot, externally sending recharges signal using rear stopping；
Third control module, for control second robot according to first robot motion extremely
It charges on second target charging pile, wherein second machine artificially removes first machine in the multi-robot system
Other at least robots other than people.
The third aspect of the embodiment of the present invention provides a kind of multi-robot system, including memory, processor and storage
On a memory and the computer program that can run on a processor, above-mentioned processor are realized when executing above-mentioned computer program
State the method that first aspect refers to.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, above-mentioned computer program realizes method mentioned in the first aspect when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the present embodiment, controlling first first
Direction movement where Robot first object charging pile, then judges that first robot is moving to the first default position
Can postpone, which receive the first object charging pile issues first, recharges signal, if can receive described first recharges signal,
It then controls first robot and is moved on the first object charging pile from first predeterminated position and charged, wherein
The first object charging pile is recharging signal externally being issued by first robot using rear stopping, finally controlling described the
Two robots on the motion to the second target charging pile of first robot according to charging, wherein described
The artificial other at least robots in the multi-robot system in addition to first robot of two machines.With existing skill
Art is compared, the embodiment of the present invention by control robot receive recharge signal after continue to fill from current preset position to target
Electric stake direction movement can continue to be moved from current preset position to occupied charging pile direction, to save to avoid robot
Robot is carrying out recharging the time consumed by heuristic process, is conducive to improve the efficiency that robot recharge exploration, have
Stronger usability and practicality.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1-a is the process signal for the method that the control multi-robot system that the embodiment of the present invention one provides is recharged
Figure；
Fig. 1-b is the method schematic diagram that existing control multi-robot system is recharged；
Fig. 2-a is the process signal for the method that control multi-robot system provided by Embodiment 2 of the present invention is recharged
Figure；
Fig. 2-b is the method schematic diagram that control multi-robot system provided by Embodiment 2 of the present invention is recharged；
The method schematic diagram that Fig. 2-c another control multi-robot system provided by Embodiment 2 of the present invention is recharged；
Fig. 3 is the structural schematic diagram for the device that the control multi-robot system that the embodiment of the present invention three provides is recharged；
Fig. 4 is the structural schematic diagram for the multi-robot system that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in the present embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
It should be noted that " first ", " second " etc. in the present embodiment describe, it is for distinguishing different regions, mould
Block etc. does not represent sequencing, does not also limit " first " and " second " as different types.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Fig. 1-a is the process signal for the method that the control multi-robot system that the embodiment of the present invention one provides is recharged
Figure, this method may comprise steps of:
S101: the direction movement where the first Robot first object charging pile of control.
It should be noted that one of the artificial controlling intelligent household appliances of machine in the application, including sweeping robot, drag
Floor-washing robot and clean robot, they can be automatically performed specified clean up task by certain artificial intelligence；It is described more
It is the robot group for completing a certain common task that robot system is made of more isomorphisms or heterogeneous robot, described more
Robot system includes at least Liang Tai robot；It is described recharge refer to robot when detecting self electric quantity deficiency, automatically from
Current location moves to a kind of behavior that target charging pile charges；The recharging method can be applied to the multirobot system
It unites in the scene for needing to return charging during a certain region indoor to user is cleaned, the user is indoor a certain
Region can be the biggish region to be cleaned of some area, such as indoor public domain.
It should be understood that the artificial any one robot in the multi-robot system of first machine, can be current
A minimum robot of electricity, or at first enter region to be cleaned in a robot, specifically can optionally and
It is fixed；The subsequent charging pile that may be used that the target charging pile is initially chosen for first robot, described first
The charging pile that robot finally uses can not be the target charging pile.
In one embodiment, at least one infrared biography is mounted in each robot in the multi-robot system
Sensor, and after moving near some unappropriated charging pile, it can receive the infrared of charging pile sending and recharge letter
Number.
In one embodiment, all charging piles used for multi-robot system are distributed in some region to be cleaned
It is interior.
In one embodiment, before executing step S101, it is default according to certain to can control first robot
Rule or random criterion are chosen a charging pile from the charging pile in the region to be cleaned and are filled as the first object
Electric stake.
In one embodiment, the robot total amount in the multi-robot system should be less than or be equal to described to be cleaned interior
Charging pile total amount.
In one embodiment, can control the first Robot rectilinear direction to the first object charging pile into
Row movement.
S102: judge that can first robot receive the first object charging after moving to the first predeterminated position
The first of stake sending recharges signal.
Wherein, first predeterminated position is that first robot can receive what the first object charging pile issued
The position of signal is recharged, described first, which recharges signal, can recharge signal to be infrared.
In one embodiment, first predeterminated position can be for apart from described one to two meter of first object charging pile
Position.
It in one embodiment, can be by being calculated between first robot and the first object charging pile in real time
Distance judges whether first robot moves to the first predeterminated position.
It should be understood that since first predeterminated position is configured according to the position of the first object charging pile,
Therefore after first robot motion is to first predeterminated position, when the first object charging pile is unoccupied,
First robot be can receive that the first object charging pile issues recharge signal.
S103: if can receive described first recharges signal, first robot is controlled from the described first default position
It sets to move on the first object charging pile and charge, wherein the first object charging pile is by first robot
Stop externally issuing after use recharging signal.
In one embodiment, can to assist controlling the first object charging pile by first robot current
Whether externally issue and recharge signal, such as the first object charging pile is designed to detect when the first object charging pile
When itself is used to first robot being charged, infrared emission function is automatically closed, stops externally issuing and recharges
Signal.
In one embodiment, first mesh is moved to from first predeterminated position in control first robot
Before the position for marking charging pile, further include:
Whether meet the first preset condition at a distance from judging first robot between the first object charging pile.
Wherein, first preset condition should be no more than first robot before itself current electric quantity is completely exhausted
The movable maximum distance of institute.
In one embodiment, first mesh is moved to from first predeterminated position in control first robot
After being charged on mark charging pile, further includes:
A1: judge whether the current electricity of first robot reaches preset value；
A2: if the current electricity of first robot reaches preset value, first Robot is controlled far from institute
The direction movement for stating first object charging pile, wherein the first object charging pile by first robot after being stopped using
Start externally to issue and recharges signal.
S104: control second robot charges according to motion to the second target of first robot
It charges in stake, wherein second machine is artificially other in addition to first robot in the multi-robot system
An at least robot.
In one embodiment, second robot is controlled according to the motion of first robot to the
Charging is carried out on two target charging piles to be specifically as follows:
B1: the direction movement where control the second target of the second Robot charging pile；
B2: judge that can second robot receive the second target charging pile after moving to the second predeterminated position
Second issued recharges signal；
B3: if can receive described second recharges signal, second robot is controlled from second predeterminated position
It moves on the second target charging pile and charges, wherein the second target charging pile makes by second robot
It is externally issued with rear stopping and recharges signal.
In one embodiment, before executing step B1, it can control second robot according to certain default rule
Criterion is from a charging pile is chosen as second target then or at random in remaining charging pile in the region to be cleaned
Charging pile.
Therefore the embodiment of the present invention is compared to Fig. 1-b, by control robot receive recharge signal after continue
It is moved from current preset position to target charging pile direction, can continue to fill from current preset position to occupied to avoid robot
The movement of electric stake direction, is carrying out recharging the time consumed by heuristic process to save robot, be conducive to improve robot into
Row recharges the efficiency of exploration, has stronger usability and practicality.
Embodiment two
Fig. 2-a is the process signal for the method that control multi-robot system provided by Embodiment 2 of the present invention is recharged
Figure, this method may comprise steps of:
S201: the direction movement where the first Robot first object charging pile of control.
S202: judge that can first robot receive the first object charging after moving to the first predeterminated position
What stake issued recharges signal.
Wherein, above-mentioned steps S201-S202 is identical as the step S101-S102 in embodiment one, specific implementation process
It can be found in the description of step S101-S102, so here is no more repetition.
S203: if can not receive it is described recharge signal, update the direction where the first object charging pile and institute
The first predeterminated position is stated, and controls the direction fortune where the updated first object charging pile of first Robot
It is dynamic, it is filled until receiving the updated first object on first predeterminated position of first robot in the updated
Until what electric stake issued recharges signal.
It should be understood that if first robot after moving to first predeterminated position within a preset period of time always without
Method recharges signal described in receiving, then can determine that the first object charging pile is currently occupied substantially, can control at this time
First robot stops continuing to move to the direction where the first object charging pile, to save first machine
People's consumed time in carrying out useless heuristic process, and then reach and improve the efficiency that first robot recharges exploration.
It should be noted that the update can may be repeatedly to update for primary update.
S204: the position of the target charging pile of signal is recharged described in control first robot motion to sending.
Above-mentioned steps are explained and illustrated by taking a kind of specific application scenarios as an example, as shown in Fig. 2-b, when described
One robot is moved downward from current location O to the first predeterminated position O ' corresponding to the first object charging pile, if
First predeterminated position O ' can not receive the first object charging pile issues first and recharge signal, then from remaining charging pile
In randomly select charging pile as updated first object charging pile for the first time, and by predeterminated position O " as updating for the first time
The first predeterminated position afterwards controls after first robot moves downwardly to predeterminated position O " from predeterminated position O ', if described
First robot receives when recharging signal of updated first object charging pile sending for the first time in predeterminated position O ", then stops
The direction where the first object charging pile and first predeterminated position are updated, and controls first robot from default
Position O " is moved on the first object charging pile updated for the first time and is charged.
Above-mentioned steps are explained and illustrated by taking another specific application scenarios as an example, as shown in fig. 2-c, when described
First robot is moved downward from current location O to predeterminated position O ' corresponding to the first object charging pile, if pre-
It is if position O ' can not receive the first object charging pile issues first and recharge signal, then random from remaining charging pile
A charging pile is chosen as updated first object charging pile for the first time, and by predeterminated position O " as updated for the first time pre-
If position, while controlling first robot and moving downwardly to predeterminated position O " from predeterminated position O ', if first machine
People can not receive when recharging signal of the first object charging pile sending updated for the first time in predeterminated position O ", then by institute
It states other any one in addition to the target charging pile and for the first time updated first object charging pile in multi-robot system
A charging pile is used as updated first object charging pile again, and predeterminated position O " ' is pre- as again updated first
If position, while controlling first robot and moving up to predeterminated position O " ' from predeterminated position O ", if first machine
People recharges signal what predeterminated position O " ' received that the first object charging pile updated again issues, then stops updating
Direction and predeterminated position where the first object charging pile, and control first robot and moved from predeterminated position O " '
It charges on to the first object charging pile updated again.
S205: control second robot charges according to motion to the second target of first robot
It charges in stake, wherein second machine is artificially other in addition to first robot in the multi-robot system
An at least robot.
Wherein, above-mentioned steps S205 is identical as the step S104 in embodiment one, and specific implementation process can be found in step
The description of S104, so here is no more repetition.
Therefore the embodiment of the present invention is compared to embodiment one, it can be after the robot motion to predeterminated position
Can not receive target charging pile sending when recharging signal, in time to where target charging pile direction and predeterminated position carry out more
Newly, to save robot consumed time in carrying out useless heuristic process, be conducive to raising robot and recharge exploration
Efficiency has stronger usability and practicality.
Embodiment three
Fig. 3 is the structural schematic diagram for the device that the control multi-robot system that the embodiment of the present invention three provides is recharged,
For ease of description, only parts related to embodiments of the present invention are shown.
The device that the control multi-robot system is recharged can be the software unit being built in multi-robot system,
Hardware cell or the unit of soft or hard combination can also be used as independent pendant and be integrated into the multi-robot system.
A kind of device that control multi-robot system is recharged, comprising:
First control module 31 is moved for the direction where controlling the first Robot first object charging pile；
First judgment module 32, for judging that can first robot receive institute after moving to the first predeterminated position
State the sending of first object charging pile first recharges signal；
Second control module 33, if recharging signal for described first can be received, control first robot from
First predeterminated position is moved on the first object charging pile and is charged, wherein the first object charging pile is in quilt
First robot is externally issued using rear stopping and recharges signal；
Third control module 34, for controlling second robot according to the motion of first robot
It charges on to the second target charging pile, wherein second machine artificially removes first machine in the multi-robot system
Other at least robots other than device people.
In one embodiment, the third control module 34 is specifically used for:
The direction movement where the second target of the second Robot charging pile is controlled, judges that second robot exists
Can move to after the second predeterminated position, which receive the second target charging pile issues second, recharges signal, if institute can be received
It states second and recharges signal, then control second robot from second predeterminated position and move to the second target charging pile
On charge, wherein the second target charging pile by second robot using it is rear stopping externally issue recharging letter
Number.
In one embodiment, described device further include:
Update module, if for can not receive it is described recharge signal, where updating the first object charging pile
Direction and first predeterminated position, and control the direction where the updated first object charging pile of first Robot
Movement, until first robot can receive updated first mesh on updated first predeterminated position
Until what mark charging pile issued recharges signal.
In one embodiment, described device further include:
4th control module, for controlling first robot motion to the updated first object charging pile
It charges.
In one embodiment, described device further include:
Second judgment module, for whether full at a distance from judging first robot between the first object charging pile
The first preset condition of foot.
In one embodiment, described device further include:
Third judgment module, for judging whether the current electricity of first robot reaches preset value；
If the current electricity of first robot reaches preset value, first Robot is controlled far from described
The direction of one target charging pile, wherein the first object charging pile starts externally after being stopped using by first robot
Sending recharges signal.
Example IV
Fig. 4 is the structural schematic diagram for the multi-robot system that the embodiment of the present invention four provides.As shown in figure 4, the embodiment
Multi-robot system 4 include: processor 40, memory 41 and be stored in the memory 41 and can be in the processor 40
The computer program 42 of upper operation.The processor 40 is realized in above method embodiment one when executing the computer program 42
The step of, such as step S101 to S104 shown in Fig. 1-a.Alternatively, realizing the step in above method embodiment two, such as scheme
Step S201 to S205 shown in 2-a.The processor 40 realizes that above-mentioned each device is implemented when executing the computer program 42
The function of each module/unit in example, such as the function of module 31 to 34 shown in Fig. 3.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the multi-robot system 4 is described.For example, the computer program 42 can be with
It is divided into the first control module, first judgment module, the second control module module, third control module module, each module tool
Body function is as follows:
First control module is moved for the direction where controlling the first Robot first object charging pile；
First judgment module, for judging that it is described that can first robot receive after moving to the first predeterminated position
The first of first object charging pile sending recharges signal；
Second control module controls first robot from institute if recharging signal for that can receive described first
It states the first predeterminated position and moves on the first object charging pile and charge, wherein the first object charging pile is by institute
Stating the first robot, externally sending recharges signal using rear stopping；
Third control module, for control second robot according to first robot motion extremely
It charges on second target charging pile, wherein second machine artificially removes first machine in the multi-robot system
Other at least robots other than people.
The multi-robot system may include, but be not limited only to, processor 40, memory 41.Those skilled in the art can
To understand, Fig. 4 is only the example of multi-robot system 4, does not constitute the restriction to multi-robot system 4, may include ratio
More or fewer components are illustrated, certain components or different components are perhaps combined, such as the multi-robot system may be used also
To include input-output equipment, network access equipment, bus etc..
The processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the multi-robot system 4, such as multi-robot system 4
Hard disk or memory.The memory 41 is also possible to the External memory equipment of the multi-robot system 4, such as the multimachine device
The plug-in type hard disk being equipped in people's system 4, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card) etc..Further, the memory 41 can also both include the multimachine
The internal storage unit of device people system 4 also includes External memory equipment.The memory 41 is for storing the computer program
And other programs and data needed for the multi-robot system.The memory 41 can be also used for temporarily storing defeated
Out or the data that will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that each embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer can
Read content that medium includes can according to making laws in jurisdiction and the requirement of patent practice carries out increase and decrease appropriate, such as
Certain jurisdictions do not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method that control multi-robot system is recharged characterized by comprising
Control the direction movement where the first Robot first object charging pile；
Judge that can first robot receive what the first object charging pile issued after moving to the first predeterminated position
First recharges signal；
If can receive described first recharges signal, first robot is controlled from first predeterminated position and moves to institute
It states and charges on first object charging pile, wherein the first object charging pile stops after by first robot use
It externally issues and recharges signal；
Second robot is controlled according to carrying out on the motion to the second target charging pile of first robot
Charging, wherein artificial other at least one in the multi-robot system in addition to first robot of second machine
Robot.
2. the method according to claim 1, wherein control second robot is according to first robot
Motion to the second target charging pile on carry out charging include:
Control the direction movement where the second target of the second Robot charging pile；
Judge that can second robot receive what the second target charging pile issued after moving to the second predeterminated position
Second recharges signal；
If can receive described second recharges signal, second robot is controlled from second predeterminated position and moves to institute
It states and charges on the second target charging pile, wherein the second target charging pile stops after by second robot use
It externally issues and recharges signal.
3. method according to claim 1 or 2, which is characterized in that judge that first robot is moving to first in advance
If can receive the first object charging pile issues first behind position recharges signal further include:
If can not receive it is described recharge signal, update direction where the first object charging pile and described first default
Position, and the direction movement where the updated first object charging pile of first Robot is controlled, until described first
Robot can receive time that the updated first object charging pile issues on updated first predeterminated position
Until filling signal.
4. according to the method described in claim 3, it is characterized in that, the method also includes control first robot fortune
It moves to charging on the updated first object charging pile.
5. the method according to claim 1, wherein controlling first robot from the described first default position
It sets before moving to the position of the first object charging pile, further include:
Whether meet the first preset condition at a distance from judging first robot between the first object charging pile.
6. the method according to claim 1, wherein the method also includes:
Judge whether the current electricity of first robot reaches preset value；
If the current electricity of first robot reaches preset value, first Robot is controlled far from first mesh
The direction movement for marking charging pile, wherein the first object charging pile starts externally after being stopped using by first robot
Sending recharges signal.
7. a kind of device that control multi-robot system is recharged characterized by comprising
First control module is moved for the direction where controlling the first Robot first object charging pile；
Judgment module, for judging that can first robot receive the first object after moving to the first predeterminated position
The first of charging pile sending recharges signal；
Second control module controls first robot from described if recharging signal for that can receive described first
One predeterminated position is moved on the first object charging pile and is charged, wherein the first object charging pile is by described
One robot is externally issued using rear stopping and recharges signal；
Third control module, for controlling second robot according to the motion of first robot to second
Charge on target charging pile, wherein second machine artificially in the multi-robot system except first robot with
Outer other at least robots.
8. device according to claim 7, which is characterized in that described device further include:
Update module, if for can not receive it is described recharge signal, update the direction where the first object charging pile
And first predeterminated position, and control the direction fortune where the updated first object charging pile of first Robot
It is dynamic, until first robot can receive the updated first object on updated first predeterminated position
Until what charging pile issued recharges signal.
9. a kind of multi-robot system, including memory, processor and storage are in the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
The step of any one of 6 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
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| CN201910438824.XA CN110347149A (en) | 2019-05-24 | 2019-05-24 | The method, apparatus and multi-robot system that control multi-robot system is recharged |
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