CN115097849A - Multi-task robot task execution method based on formation transformation - Google Patents
Multi-task robot task execution method based on formation transformation Download PDFInfo
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Abstract
The invention relates to a multitask robot task execution method based on formation transformation, which comprises the following steps: a detection group consisting of a plurality of guide robots performs gas leakage detection in a search space; a plurality of guide robots for detecting gas leakage in the same gas leakage area are distributed in the whole gas leakage area, and the gas concentration of the area point where the detected robot is located is represented by a light indication signal; indicating the range of the gas leakage area through light; under the guidance of a light indicating signal for guiding the robot, a task group consisting of the multi-task robot performs visual image navigation and positioning to travel to a leakage area; in the gas leakage area, the multitask robot carries out queue development according to a specified task queue shape and executes a control task of gas leakage; and in the process of executing the task, selecting a target formation to carry out formation transformation according to the perceived environmental change. The invention can change the formation according to the leakage condition and improve the task execution effect.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-task robot task execution method based on formation transformation.
Background
The petrochemical station is used for separating petroleum, natural gas and other products which are used as raw materials through petrochemical equipment. The petrochemical production mainly comprises three processes of raw material treatment, chemical reaction and product refining, wherein the raw material is pretreated to meet the processing requirement, and then a high-quality product is prepared through a composite chemical reaction. In order to meet the diversified demands of production media and technological processes, production links such as petroleum refining, hydrocracking and the like generally require equipment diversification, function diversification and output maximization, so strict requirements are provided for the performance and working conditions of petrochemical equipment.
Petrochemical plants are typically exposed to conditions of different pressures and temperatures, and multiple media. Because the production medium has the characteristics of strong corrosion, flammability, explosiveness, toxicity, harmfulness and the like, when the equipment runs for a long time under high load or exceeds a threshold value, the mechanical properties of the equipment, such as strength, plasticity, toughness and the like, and the chemical properties of corrosion resistance, oxidation resistance and the like approach the maximum bearing value, irreversible change is caused to the equipment, and the equipment cost of enterprises is increased.
The characteristics of inflammable, explosive and toxic production media are easy to cause leakage safety accidents. Due to the fact that the petrochemical station occupies a large area, the production equipment is complex in type and large in number, electric sparks, impact sparks and other combustible sources are easily generated when the electrical equipment runs, and when the medium leakage reaches a certain concentration, fire and explosion accidents can be caused once the medium leakage contacts with the combustible sources due to low controllability, and huge loss is caused.
Disclosure of Invention
In view of the above analysis, the present invention aims to disclose a formation-switching-based multitask robot task execution method for determining a gas leakage region by a multi-guided robot, allowing the task robot to reach the gas leakage region under guidance of the multi-guided robot, and performing formation switching according to the leakage situation to perform corresponding control on the leakage.
The invention discloses a multitask robot task execution method based on formation transformation, which comprises the following steps:
a detection group consisting of a plurality of guide robots performs gas leakage detection in a search space; the method comprises the steps that a plurality of guide robots for detecting gas leakage in the same gas leakage area are distributed in the whole gas leakage area of a leakage point through the movement of the positions of the robots, and the strength of the gas concentration of the area point where the detected robot is located is represented through the strength of a light indication signal sent by the guide robots; indicating the range of the gas leakage area in the space through light;
under the guidance of a light indication signal for guiding the robot, a task group consisting of the multi-task robot performs visual image navigation and positioning to move to a gas leakage area;
after the gas leakage area is reached, the multitask robot carries out queue expansion according to the designated task queue shape and executes the control task of gas leakage; and in the process of executing the task, selecting a target formation to carry out formation transformation according to the perceived environmental change.
Furthermore, a pilot robot in a formation is designated from a plurality of task robots included in the task group, and the other robots are following robots; the following robot detects the distance and angle information between the following robot and the piloting robot within a self perception range;
the queue form of the task group is a scalable queue form which is described by adopting a directed acyclic graph; each robot is regarded as a vertex, and the relationship between the two robots is regarded as an edge; each robot has a unique ID number, and the pilot is set as R L The other following robots are sequentially set as R F1 ，R F2 ，…，R F(n-1) 。
Further, the general formula of the parameter matrix of the formation is:
wherein, F d For the shape parameter information matrix of the formation, i ∈ [0, n-1 ]]Is the ID number of the robot; shape parameter of robot i
In f i1 Number of robot i, f i2 For the expected distance to be kept between the robot i and the pilot robot
f i3 For a desired azimuth between the robot i and the piloting robot
Further, establishing an expected formation parameter matrix for formation including straight forms, wedges, columnar forms, triangles, diamonds and circles to form a formation knowledge base; when executing tasks, the multitask robots in the task group spread the queue according to the appointed task formation, select the target formation according to the sensed environmental change to change the formation, when changing the formation, call the expected formation parameter matrix of the target formation from the formation knowledge base, and each task robot moves according to the respective shape parameter to form the target formation.
Further, the task group comprises a plurality of walking robots and a mobile fire extinguishing agent base station;
a plurality of walking robots and mobile fire extinguishing agent base stations are sequentially connected together, the first walking robot is a pilot robot in a queue, and the rest walking robots and the mobile fire extinguishing agent base stations are following robots;
the pilot robot is connected with the first following robot through a traction rope, the rest walking robots are sequentially connected with a fire fighting pipeline through the traction rope, and the last walking robot is connected with the mobile fire extinguishing agent base station through the traction rope and the fire fighting pipeline;
the piloting robot is used for carrying out visual image navigation positioning under the guidance of a light indication signal for guiding the robot and dragging the following robot to move to a gas leakage area; in the process of executing tasks, the piloting robot provides position and angle references for the formation unfolding and formation transformation of the following robot;
the walking robots as following robots are all provided with fire extinguishing agent spraying heads and are connected with the mobile fire extinguishing agent base station through fire fighting pipelines, and in the process of executing tasks, the fire extinguishing agent spraying heads spray fire extinguishing agents to leakage points, so that gas leakage is controlled early, and gas is prevented from burning.
Further, the pilot robot establishes a wireless communication link with a guiding robot in the gas leakage area; after the visual image signal of the task robot is lost, carrying out signal strength indication ranging through the signal strength of a wireless communication link; and performing secondary positioning of the task robot according to the distance measurement of the plurality of guide robots in the gas leakage area.
Further, the method for detecting gas leakage in a search space by a detection group consisting of a plurality of guide robots comprises the following steps:
a plurality of guide robots in the detection group are randomly distributed in a search space in advance, each guide robot has a gas concentration sensing function, and the sensed gas concentration is identified through a light brightness value;
guiding the robot to sense the concentration of the leaked gas at the spatial position where the robot is located, and updating the light brightness value for identifying and sensing the gas concentration;
the guiding robot converts the brightness value of the lamplight to obtain the distribution amount of the brightness value according to the distance between the guiding robot and other guiding robots in the group, and the distribution amount of the brightness value is smaller when the guiding robot is farther away;
each guiding robot performs robot pairing according to a light brightness value obtained by sensing the gas concentration by the guiding robot and the received brightness value distribution amount sent by other guiding robots in the group, and determines the guiding robot performing pairing with the guiding robot;
after determining the guide robot paired with the robot, moving towards the paired guide robot, and updating the position of the robot;
the spatial positions of the plurality of guidance robots in the group are distributed over the gas leakage area by updating the positions of the guidance robots in the group.
Further, the guiding robot senses the gas concentration through a mounted gas sensor; converting the perceived gas concentration value into a light brightness value;
the light brightness value XY updated by the ith guiding robot when the gas leakage is detected at the current time t i (t)＝max{0,b 1 ·XY i (t-1)+b 2 ·f i (t) }; in the formula, XY i (t-1) is the intensity value of the light signal of the ith guiding robot at the last moment, f i (t) is a leakage gas concentration value detected by the ith guide robot at the current moment t; b 1 And b 2 Is a constant and satisfies b is 0. ltoreq. b 1 Less than or equal to 1 and b 2 >1。
Further, the light brightness value distribution amount of the jth guiding robot in the jth guiding robot pair group at the current time t is as follows:
wherein i is 1,2, …, N, j is 1,2, …, N, k is 1,2, …, N, i is not equal to k, i is not equal to j; d is a radical of ij Is the Euclidean distance between the ith guide robot and the jth guide robot, and N is the number of robots in the group.
Furthermore, the guide robot is a bionic flying insect robot and can fly in a narrow space;
the bionic flying insect robot comprises a gas sensor carried in a human body, and a gas concentration indicator lamp is arranged at the tail of the robot; the bionic flying insect robot is provided with Zigbee modules which are used for establishing data communication links with the guiding robots in the group and the piloting robots.
The invention can realize at least one of the following beneficial effects:
the invention relates to a multi-task robot task execution method based on formation transformation, which utilizes a plurality of guide robots to realize the determination and indication of a gas leakage space region; and under the guidance of the multi-guide robot, the task robot reaches the gas leakage area, and the queue form is changed according to the leakage condition so as to correspondingly control the leakage.
The invention leads the guiding robot to be arranged according to the concentration distribution of the leaked gas and controls the brightness of the leakage indicator lamp according to the concentration of the gas, thereby forming the indication of a gas leakage space region from light to dark from the center of a leakage point to a leakage edge, and realizing the alarm of the leakage region and the indication of the leakage region.
The task robot provided by the invention is based on visual image navigation positioning and signal strength indication distance measurement positioning, and the task robot is navigated and positioned in two positioning modes, so that the task robot is guided to a gas leakage area.
The bionic flying insect robot including the butterfly robot is adopted for detection and space region determination, so that the narrow and small space passing staying in a complicated region of a petrochemical station pipeline is facilitated, and the space region of leaked gas is determined.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flowchart of a task execution method of a multitask robot based on formation transformation in the embodiment of the invention;
FIG. 2 is a diagram illustrating an example of queue shapes in an embodiment of the present invention;
fig. 3 is a flowchart of a multi-robot detection method for spatial region determination according to an embodiment of the present invention.
Fig. 4 is a top view of a butterfly robot in an embodiment of the present invention;
fig. 5 is a side view of a butterfly robot in an embodiment of the present invention;
fig. 6 is a front view of a butterfly robot in an embodiment of the present invention;
fig. 7 is a perspective view of a butterfly robot in an embodiment of the present invention;
fig. 8 is a schematic diagram of a butterfly robot detecting gas leakage in an embodiment of the invention; .
Fig. 9 is a schematic diagram of the task robot performing secondary positioning in the embodiment of the present invention.
Reference numerals: 1-miniature steering engine, 2-carbon fiber rod, 3-elastic film, 4-plastic connecting component, 5-wing component, 6-wing driving component, 7-main trunk, 8-front wing, 9-back wing, 10-wireless sensor, 11-micro-control and power supply system, 12-butterfly robot, 13-petroleum gas pipeline, 14-wireless sensor, 15-warning light, 16-leakage gas, 17-crack, 18-guiding robot group, 19-task group, 20-piloting robot, 21-following robot, 22-mobile fire extinguishing agent base station.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
One embodiment of the invention discloses a multitask robot task execution method based on formation transformation, which comprises the following steps as shown in figure 1:
s101, detecting gas leakage in a search space by a detection group consisting of a plurality of guide robots; the method comprises the steps that a plurality of guide robots for detecting gas leakage in the same gas leakage area are distributed in the whole gas leakage area of a leakage point through the movement of the positions of the robots, and the strength of the gas concentration of the area point where the detected robot is located is represented through the strength of a light indication signal sent by the guide robots; indicating the range of the gas leakage area in the space through light;
s102, under the guidance of a light indicating signal for guiding the robot, a task group consisting of the multi-task robot performs visual image navigation and positioning to move to a gas leakage area;
step S103, after the gas leakage area is reached, the multitask robot carries out queue expansion according to the designated task queue shape and executes the control task of gas leakage; and in the process of executing the task, selecting a target formation according to the perceived environmental change to carry out formation transformation.
Specifically, in this embodiment, a pilot robot in a formation is designated from among a plurality of task robots included in the task group, and the other robots are following robots; the following robot detects the distance and angle information between the following robot and the piloting robot within the sensing range of a sensor carried by the following robot.
Specifically, the formation of the task group is a scalable formation described by using a directed acyclic graph; each robot is regarded as a vertex, and the relationship between the two robots is regarded as an edge; each robot has a unique ID number, where the piloting robot is set to R L The other following robots are sequentially set as R F1 ，R F2 ，…，R F(n-1) 。
The general formula of the parameter matrix of the formation is as follows:
wherein, F d For the shape parameter information matrix of the formation, i ∈ [0, n-1 ]]Is the ID number of the robot; shape parameter of robot i
In, f i1 Number of robot i, f i2 For the expected distance to be kept between the robot i and the pilot robot
f i3 For a desired azimuth between the robot i and the piloting robot
The formation shape of the multitask robot formation of the task group can be described as:
in the embodiment, an expected formation parameter matrix is established for formation including a straight form, a wedge form, a columnar form, a triangle form, a diamond form and a circle form to form a formation knowledge base, when a task is executed, the multitask robots in the task group perform queue expansion according to the appointed task formation, a target formation is selected according to the sensed environmental change to perform formation transformation, when the formation transformation is performed, the expected formation parameter matrix of the target formation is taken from the formation knowledge base, and each task robot moves according to the respective shape parameter to form the target formation.
Specifically, the present embodiment also provides an expected formation parameter matrix representation of various formation shapes such as a straight type, a wedge shape, a columnar type, a triangle, a diamond shape, a circle, and the like: the shapes of the rows forming the other-letter, wedge, column, triangle, diamond and circle are shown in fig. 2:
(a) a word formation:
(b) a columnar formation:
(c) a triangular formation:
(d) wedge formation:
(e) a diamond formation:
(f) a circular formation:
the above-mentioned established expected formation parameter matrix does not represent all the structures of the formation, but is a special case of the formation, such as a straight formation, and a new straight formation can be obtained by adjusting the sequence of the robots or the distance between each robot and the pilot robot, but all the formation shapes can be adjusted
And
thus obtaining the product.
When the multi-spherical robot system is realized to move in an appointed formation and perform effective formation transformation according to the sensed environmental change, the control can be performed through a time-varying formation controller with feedback control, so that the piloting robot can track a series of track points planned in advance and keep an expected distance and an expected azimuth angle between the following robot and the piloting robot, namely the requirement of meeting the requirement of the following robot and the piloting robot is met
To achieve maintenance of formation or change of formation.
The time-varying formation controller with feedback control can refer to the existing formation controller including PID control, so that the piloted robot can track a series of track points planned in advance, and a control target of a desired distance and an azimuth angle is kept between the following robot and the piloted robot. The time-varying formation controller adopted does not affect the protection scope of the invention.
In a specific embodiment, the plurality of task robots in the task group comprise a plurality of walking robots and a mobile fire suppressant base station;
a plurality of walking robots and the mobile fire extinguishing agent base stations are connected together in sequence, and the first walking robot is a pilot robot R in a queue L The other walking robots and the mobile fire extinguishing agent base station are following robots R F1 ，R F2 ，…，R F(n-1) ；
Piloting robot R L Through a traction rope and a first following robot R F1 The rest walking robots are connected with the fire fighting pipeline in sequence through the traction ropes, and the last walking robot R F(n-2) Through a traction rope, a fire-fighting pipeline and a mobile fire-extinguishing agent base station R F(n-1) Connecting;
the piloting robot is used for carrying out visual image navigation positioning under the guidance of a light indicating signal for guiding the robot and dragging the following robot to move to a gas leakage area; in the process of executing tasks, the piloting robot provides position and angle references for unfolding and changing the formation of the following robot; the following robot detects the piloting robot through a sensor carried by the following robot to obtain the distance and angle information between the following robot and the piloting robot.
The walking robots as the following robots are all provided with the fire extinguishing agent spraying heads and are connected with the mobile fire extinguishing agent base station through fire fighting pipelines, and in the process of executing tasks, the fire extinguishing agent spraying heads spray the fire extinguishing agent to leakage points, so that gas leakage is controlled early, and gas is prevented from burning.
The mobile fire extinguishing agent base station is stored with fire extinguishing agent.
In a more preferred embodiment, the walking robot is a ball-hexapod morphing robot; the spherical-hexapod robot is a spherical robot in a retracted state and can roll on the ground, and a hexapod robot in an expanded state and can move through six feet.
The volume is smaller when the sphere is kept, the sphere travels in a rolling mode, and the requirement on the road surface is low. When the hexapod robot is unfolded, the fire extinguishing agent spraying head can be extended out to spray the fire extinguishing agent aiming at the gas leakage area.
Specifically, the method for detecting gas leakage in a search space by a detection group composed of a plurality of guide robots in step S101, as shown in fig. 3, includes:
s301, randomly distributing a plurality of guide robots in a detection group in a search space in advance, wherein each guide robot has a gas concentration sensing function and identifies the sensed gas concentration through a light brightness value;
the guiding robot senses the gas concentration through the carried gas sensor and marks the local gas concentration value through the light brightness value of the carried indicator lamp;
s302, the guiding robot senses the concentration of the leaked gas at the space position where the guiding robot is located, and the light brightness value for identifying the sensed gas concentration is updated;
specifically, in updating the gas concentration identification value, the light brightness value at the current moment is determined by combining the light brightness at the previous moment and the gas leakage concentration value detected at the current moment;
the light brightness value XY updated by the ith guiding robot when the gas leakage is detected at the current time t i (t)＝max{0,b 1 ·XY i (t-1)+b 2 ·f i (t) }; in the formula, XY i (t-1) intensity of light signal of ith guiding robot at last moment, f i (t) is a leakage gas concentration value detected by the ith guide robot at the current moment t; b is a mixture of 1 And b 2 Is a constant and satisfies b is 0. ltoreq. b 1 1 or less and b 2 >1。
S303, converting the brightness value of the lamplight by the guiding robot according to the distance between the guiding robot and other guiding robots in the group to obtain the distribution amount of the brightness value, and distributing the distribution amount of the brightness value to the corresponding guiding robot, wherein the distribution amount of the brightness value is smaller when the distance is longer;
the light brightness value distribution of the jth guiding robot in the jth guiding robot pair group at the current moment t is as follows:
wherein i is 1,2, …, N, j is 1,2, …, N, k is 1,2, …, N, i is not equal to k, i is not equal to j; d is a radical of ij Is the Euclidean distance between the ith and jth guiding robots, d ik Is the euclidean distance between the ith guide robot and the kth guide robot; n isThe number of robots within a group.
S304, each guiding robot performs robot pairing according to a light brightness value obtained by sensing the gas concentration by the guiding robot and the received brightness value distribution amount sent by other guiding robots in the group, and determines the guiding robot performing pairing with the guiding robot;
when the robots are matched, the guiding robots arrange the received light brightness value distribution quantity sent by other guiding robots in the group and the light brightness value measured by the sensors of the guiding robots in a descending order from big to small; and selecting the robot which is arranged in the descending order and is adjacent to the brightness value of the light of the robot as a pairing robot.
Wherein the robot pairing can be represented by the following formula:
XY(i th BF)＜XY(j th BF)
wherein i is 1, 2.., N; j ═ 1,2,. N; i.e. i th 、j th A descending index of the guiding robot, BF a descending index of the guiding robot to be compared with the ith guiding robot th Adjacent descending index j th The lead robot (i.e., the immediately preceding lead in descending order) is paired with the ith lead robot.
S305, after determining the guide robot paired with the robot, moving towards the paired guide robot, and updating the position of the robot;
in particular, a target position for moving to the pairing robot
Wherein x is i (t +1) and x i (t) the position of the ith guiding robot at the next moment and the current moment respectively; x is the number of l-mate (t) the current time position of the pairing robot of the ith lead robot, B S To guide the movement step of the robot.
And S306, updating the positions of the guide robots in the group to ensure that the space positions of the guide robots in the group are distributed in the gas leakage area.
In order to achieve a spreading of the robot in a certain spatial area, a robot distribution is formed which covers the entire gas leakage area. Particularly, in a region with a complex pipeline in a petrochemical station, a space region with gas leakage is determined through a narrow space, preferably, the guide robot is a bionic flying insect robot and can fly in the narrow space;
the bionic flying insect robot comprises a gas sensor carried in a human body, and a gas concentration indicator lamp is arranged at the tail of the robot.
The bionic flying insect robot is provided with a Zigbee module for establishing a data communication link with robots in the group and with task robots; a light sensor used for sensing light intensity is arranged; an ultrasonic sensor for avoiding obstacles is arranged; and a satellite navigation module and/or a micro inertial navigation module for positioning are/is arranged.
In the detection process, if only one leakage point exists in the leakage area and a bionic flying insect robot is arranged near the leakage point, the concentration of the leaked gas is indicated by a gas concentration indicator lamp arranged at the tail part after the bionic flying insect robot detects the leaked gas; other bionic flying insect robots in the nearby group fly and move towards the bionic flying insect robot according to the received brightness value distribution amount of the bionic flying insect robot detecting the leaked gas, and after the other bionic flying insect robots fly to the leakage area, the carried gas sensor detects the leaked gas, and the concentration of the leaked gas is indicated through a gas concentration indicator lamp arranged at the tail part; when a plurality of flying insect robots detect leaked gas, robot pairing is carried out through the distribution quantity of the brightness values distributed mutually and the light brightness values obtained by perceiving the gas concentration by the robots, the robots paired with the robots are determined, relative movement between the paired robots is realized, and the spatial positions of the robots in the group are enabled to be distributed all over the gas leakage area through position updating of the robots in the group. Therefore, in the gas leakage space area determined by the bionic flying robot, a gas leakage space area indication from the leakage center to the leakage edge from light to dark is formed.
In the detection process, if a plurality of leakage points exist in the leakage area, the bionic flying insect robot near each leakage point firstly detects the leaked gas, and the concentration of the leaked gas is indicated through a gas concentration indicator lamp arranged at the tail part; distributing the distribution quantity of the brightness values to other surrounding bionic flying insect robots; following the detection process described above, a regional distribution of bionic flying insect robot locations around each leak is created, with an indication of the gas leak spatial region from light to dark from the center of each leak to the leak edge. The leakage area alarming and leakage area indication and the leakage area center indication are convenient.
Preferably, the bionic flying insect robot is a butterfly robot, and the bionic flying insect robot is a butterfly robot and comprises a main trunk, a wing driving assembly and a wing assembly; the gas sensor who carries on in the main truck, the afterbody of main truck sets up gas concentration pilot lamp.
The wing components comprise a left wing component and a right wing component which are respectively arranged on the wing driving components arranged on the two sides of the front end of the main body and are in mirror symmetry; in the wing assembly, the outer contour is bent through a carbon fiber rod and then is fixedly formed through a plastic connecting assembly to form an integral framework of the butterfly-type robot, the elastic film is integrally cut according to the wing framework, and the elastic film is fixed on the wing framework through an adhesive tape to form an elastic wing; the wing assembly is driven by a driving steering engine arranged at the front part of the main body to drive the wings to flap and convert the flapping to the thrust and the lift of the flight, and the start and end phases of the double wings are independently controlled to realize the pitching and yawing of the butterfly; and the control and power supply of the bionic butterfly flapping wing aircraft are realized through a micro-control system and a power supply system which are arranged at the rear part of the main trunk.
As shown in fig. 4, 5, 6 and 7, the butterfly robot is a top view, a side view, a front view and a perspective view.
Adopt butterfly robot, carry on the sensor that detects petroleum gas and reveal, adhere to in dangerous source place, when revealing, sensor detection signal, the distinguishable light is sent out to the butterfly afterbody. Be equipped with wireless sensor on the butterfly robot, give 100 crowds through platform distribution instruction for the unit, look for the danger source, when detecting the danger source, a butterfly leaves, reveals dangerous intensity with light indication, and when a crowd butterfly took place same light luminance, the butterfly crowd expanded with the formation and looks for revealing the source size to catch danger source diffusion size. See fig. 8.
Specifically, in step S102, the piloting robot in the task group performs visual image navigation and positioning under the guidance of the light indication signal of the guiding robot, and leads other task robots in the task group to travel to the gas leakage area; the visual image navigation positioning can adopt the existing visual navigation positioning method to perform positioning navigation by tracking and guiding a light indicating signal sent by the robot by camera equipment carried on the piloting robot.
And the piloting robot establishes a wireless communication link with a guiding robot in the gas leakage area; after the visual image signal of the task robot is lost, carrying out signal strength indication ranging through the signal strength of a wireless communication link; and performing secondary positioning of the task robot according to the distance measurement of the plurality of guide robots in the gas leakage area.
Specifically, in the method for performing signal strength indication (RSSI) ranging through the signal strength of the wireless communication link after the visual image signal of the pilot robot is lost,
the mathematical expression of the log-normal distribution model of RSSI positioning is:
wherein d is the distance from the transmitting node (guiding robot) to the receiving node (piloting robot) and the unit is m; d is a radical of 0 Is a unit distance, usually 1m；P L (d) For path loss after a distance d, P L (d 0 ) Is the path loss after a unit distance; x 0 The average value is a Gaussian random number of 0, and the standard deviation range is 4-10; and n is a signal attenuation factor, which represents the increasing speed of the path loss along with the increase of the distance, and when the value of n is smaller, the attenuation of the signal in the propagation process is smaller, the signal can be propagated farther, and the range is generally 2-4.
The RSSI value received by the receiving node (piloted robot) is expressed as follows:
RSSI＝P t -P L (d)
wherein P is t Is the transmit power of the transmitting node.
From the above formula, P L (d 0 )＝P t -A；
Due to d 0 Usually taken as 1m and X 0 Is 0, the above equation is simplified as:
P L (d)＝P t -A+10nlg(d)；
the RSSI value is expressed as:
RSSI＝A-10nlg(d)；
wherein A is in a unit distance d 0 The signal strength of (a), n is a signal attenuation factor; d is the distance from the transmitting node to the receiving node.
If the receiving node measures the signal strength indicator value RSSI of the signal of the transmitting node at the position, the distance between the receiving node and the transmitting node can be calculated according to the environment parameters A and n.
And determining the position of the guiding robot by a trilateration method by using the signal strength indication distance measurement values of at least three guiding robots.
In a specific embodiment of this embodiment, the task group shown in fig. 9 is schematically located for the second time.
In the figure, a pilot robot and a guide robot establish a wireless communication link, perform signal strength indication ranging according to the signal strength of the wireless communication link to perform secondary positioning, and pull other task robots in a task group to move to a gas leakage area.
Specifically, in step S103, after the gas leakage area is reached, the multitask robot acquires the expected formation parameters of the task formation from the formation knowledge base according to the specified task formation; spreading a queue according to the expected queue form parameters, and executing a control task of gas leakage; in the process of executing the task, selecting a target formation according to the perceived environmental change, and acquiring expected formation parameters of the target formation from a formation knowledge base; and according to the expected formation parameters of the target formation, changing from the current formation to the target formation.
In summary, the method for executing a task by a multitask robot based on formation transformation disclosed in this embodiment may utilize a plurality of robots to detect and determine a space region where gas leaks. The robot is distributed according to the concentration distribution of the leaked gas, the brightness of the leakage indicator lamp is controlled according to the concentration of the gas, the indication of a gas leakage space area from light to dark from the center of a leakage point to a leakage edge is formed, and the alarm and the indication of the leakage area are realized.
In addition, the bionic flying insect robot including the butterfly robot is adopted for detection and space region determination, so that the passing staying in a narrow space in a region with complex pipelines of a petrochemical station is facilitated, and the space region of leaked gas is determined. The spherical-hexapod deformation robot is more convenient to pass in the complex environment of a petrochemical station.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A multitask robot task execution method based on formation transformation is characterized by comprising the following steps:
a detection group consisting of a plurality of guide robots performs gas leakage detection in a search space; the method comprises the steps that a plurality of guide robots for detecting gas leakage in the same gas leakage area are distributed in the whole gas leakage area of a leakage point through the movement of the positions of the robots, and the strength of the gas concentration of the area point where the detected robot is located is represented through the strength of a light indication signal sent by the guide robots; indicating the range of the gas leakage area in the space through light;
under the guidance of a light indication signal for guiding the robot, a task group consisting of the multi-task robot performs visual image navigation and positioning to move to a gas leakage area;
after the gas leakage area is reached, the multitask robot carries out queue expansion according to the designated task queue shape and executes the control task of gas leakage; and in the process of executing the task, selecting a target formation according to the perceived environmental change to carry out formation transformation.
2. The method according to claim 1, wherein a lead robot is designated as a formation among a plurality of task robots included in the task group, and the remaining robots are following robots; the following robot detects the distance and angle information between the following robot and the piloting robot within a self perception range;
the queue form of the task group is a scalable queue form which is described by adopting a directed acyclic graph; each robot is regarded as a vertex, and the relationship between the two robots is regarded as an edge; each robot has a unique ID number, and the pilot is set as R L The other following robots are sequentially set as R F1 ，R F2 ，…，R F(n-1) 。
3. The method according to claim 2, wherein the general formula of the parameter matrix of the formation is:
wherein, F d For the shape parameter information matrix of the formation, i ∈ [0, n-1 ]]Is the ID number of the robot; shape parameter of robot i
In f i1 Number of robot i, f i2 For the expected distance to be kept between the robot i and the pilot robot
f i3 For a desired azimuth between the robot i and the piloting robot
4. The method of claim 1, wherein a desired formation parameter matrix is established for formations comprising a straight form, a wedge form, a columnar form, a triangle form, a diamond form and a circle form to form a formation knowledge base; when executing tasks, the multitask robots in the task group perform queue expansion according to the appointed task formation, select the target formation according to the sensed environmental change to perform formation transformation, during the formation transformation, call the expected formation parameter matrix of the target formation from the formation knowledge base, and each task robot moves according to the respective shape parameter to form the target formation.
5. The method for positioning a task robot according to claim 4, wherein the task group comprises a plurality of walking robots and a mobile fire extinguishing agent base station;
a plurality of walking robots and mobile fire extinguishing agent base stations are sequentially connected together, the first walking robot is a pilot robot in a queue, and the rest walking robots and the mobile fire extinguishing agent base stations are following robots;
the pilot robot is connected with the first following robot through a traction rope, the rest walking robots are sequentially connected with a fire fighting pipeline through the traction rope, and the last walking robot is connected with the mobile fire extinguishing agent base station through the traction rope and the fire fighting pipeline;
the piloting robot is used for carrying out visual image navigation positioning under the guidance of a light indication signal for guiding the robot and dragging the following robot to move to a gas leakage area; in the process of executing tasks, the piloting robot provides position and angle references for the formation unfolding and formation transformation of the following robot;
the fire extinguishing agent spraying heads are mounted on the walking robots as following robots and are connected with the mobile fire extinguishing agent base station through fire fighting pipelines, and in the process of executing tasks, the fire extinguishing agent spraying heads spray fire extinguishing agents to leakage points, so that gas leakage is controlled early, and gas is prevented from burning.
6. The method of claim 5, wherein the task robot is a mobile robot,
the pilot robot and a guide robot in the gas leakage area establish a wireless communication link; after the visual image signal of the task robot is lost, carrying out signal strength indication ranging through the signal strength of a wireless communication link; and performing secondary positioning of the task robot according to the distance measurement of the plurality of guide robots in the gas leakage area.
7. The method for locating a task robot according to any one of claims 1 to 6, wherein the detection group consisting of a plurality of guided robots performs a method for gas leak detection in a search space, comprising:
a plurality of guide robots in the detection group are randomly distributed in a search space in advance, each guide robot has a gas concentration sensing function, and the sensed gas concentration is identified through a light brightness value;
the robot is guided to sense the concentration of the leaked gas at the spatial position where the robot is located, and the light brightness value for identifying and sensing the gas concentration is updated;
the guiding robot converts the light brightness value to obtain brightness value distribution amount according to the distance between the guiding robot and other guiding robots in the group, and the brightness value distribution amount is distributed to the corresponding guiding robots, and the larger the distance is, the smaller the brightness value distribution amount is;
each guiding robot performs robot pairing according to a light brightness value obtained by sensing the gas concentration by the guiding robot and the received brightness value distribution amount sent by other guiding robots in the group, and determines the guiding robot performing pairing with the guiding robot;
after determining the guide robot paired with the robot, moving towards the paired guide robot, and updating the position of the robot;
the spatial positions of the plurality of guidance robots in the group are distributed over the gas leakage area by updating the positions of the guidance robots in the group.
8. The method according to claim 7, wherein the guidance robot senses a gas concentration by a gas sensor mounted thereon; converting the perceived gas concentration value into a light brightness value;
the light brightness value XY updated by the ith guiding robot when the gas leakage is detected at the current time t i (t)＝max{0,b 1 ·XY i (t-1)+b 2 ·f i (t) }; in the formula, XY i (t-1) is the intensity value of the light signal of the ith guiding robot at the last moment, f i (t) is a leakage gas concentration value detected by the ith guide robot at the current moment t; b 1 And b 2 Is a constant and satisfies b is 0. ltoreq. b 1 1 or less and b 2 >1。
9. The method of claim 8,
the light brightness value distribution of the jth guiding robot in the jth guiding robot pair group at the current moment t is as follows:
wherein i is 1,2, …, N, j is 1,2, …, N, k is 1,2, …, N, i is not equal to k, i is not equal to j; d ij Is the Euclidean distance between the ith guide robot and the jth guide robot, and N is the number of robots in the group.
10. The multi-robot detection method according to claim 7, wherein the guiding robot is a bionic flying insect robot capable of flying in a narrow space;
the bionic flying insect robot comprises a gas sensor carried in a human body, and a gas concentration indicator lamp is arranged at the tail of the robot; the bionic flying insect robot is provided with Zigbee modules which are used for establishing data communication links with the guiding robots in the group and the piloting robots.
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