CN115097849B - 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 task execution method of a multi-task robot based on formation transformation, which comprises the following steps: a detection group consisting of a plurality of guiding robots performs gas leakage detection in a search space; a plurality of guiding robots which detect 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 robots are located is represented by the light indication signal; indicating the range of the gas leakage area through lamplight; the task group consisting of the multi-task robot is guided by the light indication signal of the guiding robot to perform visual image navigation positioning and advancing to a leakage area; in the gas leakage area, the multi-task robot performs queue expansion according to a designated task formation and executes a gas leakage control task; and selecting a target formation to perform formation transformation according to the perceived environmental change in the task execution process. The invention can change the formation according to the leakage condition, and improves the task execution effect.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a task execution method of a multi-task robot based on formation transformation.
Background
Petrochemical sites refer to the separation of petroleum, natural gas and other products from raw materials by petrochemical equipment. The petrochemical production mainly comprises three technological processes of raw material treatment, chemical reaction and product refining, wherein the raw materials are pretreated to meet the processing requirements, and then the high-quality products are prepared through the compound chemical reaction. In order to meet the diversified requirements of production media and technological processes, the production links of petroleum refining, hydrocracking and the like generally require equipment diversification, functional diversification and output maximization, so strict requirements are put on the performance and working conditions of petrochemical equipment.
Petrochemical plants are often subjected to different pressures and temperatures and multi-media operating conditions. Because the production medium has the characteristics of strong corrosion, inflammability, explosiveness, toxicity, harm and the like, when the equipment runs under high load for a long time or exceeds a threshold value, the mechanical properties such as the equipment strength, plasticity, toughness and the like and the chemical properties such as corrosion resistance, oxidation resistance and the like approach the maximum bearing value, the irreversible change is caused to the equipment, and the equipment cost of enterprises is increased.
The production medium is inflammable, explosive, poisonous and the like, and is extremely easy to cause leakage safety accidents. The petrochemical station is large in occupied area, the production equipment is complex in type and large in quantity, electric sparks, impact sparks and other combustible sources are extremely easy to generate when the electric equipment operates, when the medium leaks to reach a certain concentration, fire explosion accidents can be caused once the medium leaks to contact the combustible sources due to low controllability, and huge losses are caused.
Disclosure of Invention
In view of the above analysis, the present invention aims to disclose a task execution method of a multi-task robot based on formation transformation, which is used for determining a gas leakage area through a multi-guide robot, and enabling the task robot to reach the gas leakage area under the guidance of the multi-guide robot, and performing formation transformation according to the leakage condition so as to control the leakage correspondingly.
The invention discloses a task execution method of a multi-task robot based on formation transformation, which comprises the following steps:
A detection group consisting of a plurality of guiding robots performs gas leakage detection in a search space; a plurality of guiding robots for detecting gas leakage in the same gas leakage area, wherein the guiding robots are distributed in the whole gas leakage area of the leakage point through the position movement of the robots, and the strength of the light indication signals sent by the guiding robots are used for representing the strength of the gas concentration of the area point where the detected robots are located; indicating the extent of the gas leakage area in the space by means of a light;
The task group consisting of the multi-task robot is guided by the light indication signal of the guiding robot to perform visual image navigation positioning and advance to the gas leakage area;
After reaching the gas leakage area, the multi-task robot performs queue expansion according to the designated task formation and executes the control task of gas leakage; and selecting a target formation to perform formation transformation according to the perceived environmental change in the task execution process.
Further, among the plurality of task robots included in the task group, a pilot robot in which a certain robot is a formation is designated, and the remaining robots are following robots; the piloting robot is used for planning and coordinating the movement of the task group, and the following robot detects the distance and angle information of the following robot and the piloting robot in the self-perception range;
the formation of the task group is a telescopic formation described by a directed acyclic graph; each robot is regarded as a vertex, and the relationship between the two robots is regarded as edges; each robot has a unique ID number, the pilot is set to R L, and the remaining follower robots are set to R F1,RF2,…,RF(n-1) in sequence.
Further, the general formula of the parameter matrix of the formation is:
Wherein F d is a shape parameter information matrix of the formation, i E [0, n-1] is the ID number of the robot; shape parameters of robot i Wherein f i1 is the number of the robot i, and f i2 is the desired distance to be maintained between the robot i and the pilot robotF i3 is the desired azimuth/>, between robot i and the piloting robot
Further, establishing a desired formation parameter matrix for formations comprising a straight shape, a wedge shape, a columnar shape, a triangle, a diamond shape and a round shape to form a formation knowledge base; when executing tasks, the multi-task robots in the task group perform queue expansion according to the designated task formation, select target formation to perform formation transformation according to perceived environmental change, and when the formation transformation is performed, the expected formation parameter matrix of the target formation is called from the formation knowledge base, and each task robot moves according to the respective shape parameters to form the target formation.
Further, the task group comprises a plurality of walking robots and a mobile fire extinguishing agent base station;
the plurality of walking robots and the 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 the 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 pilot robot is used for performing visual image navigation positioning under the guidance of a light indication signal of the pilot robot, and dragging the following robot to travel to a gas leakage area; in the process of executing the task, the pilot robot provides position and angle references for formation expansion and formation transformation of the following robots;
The walking robots serving as the following robots are all provided with fire extinguishing agent spraying heads and are connected with the movable fire extinguishing agent base station through fire extinguishing pipelines, and fire extinguishing agent is sprayed to leakage points through the fire extinguishing agent spraying heads in the process of executing tasks, so that gas leakage is controlled early, and gas combustion is prevented.
Further, the pilot robot establishes a wireless communication link with the pilot robot in the gas leakage area; after the visual image signal of the task robot is lost, signal intensity indication ranging is performed through the signal intensity of the wireless communication link; and performing secondary positioning of the task robot according to the distance measurement of the plurality of guiding robots in the gas leakage area.
Further, the method for detecting gas leakage in the search space by the detection group consisting of a plurality of guiding robots comprises the following steps:
A plurality of guiding robots in the detection group are randomly distributed in the search space in advance, each guiding robot has a gas concentration sensing function, and the sensed gas concentration is identified through a lamplight brightness value;
Guiding the robot to sense the concentration of leaked gas at the spatial position of the robot, and updating the light brightness value of the identification sensing gas concentration;
according to the distances between the guiding robots and other guiding robots in the group, converting the brightness values of the lamplight to obtain brightness value distribution amounts, and distributing the brightness value distribution amounts to the corresponding guiding robots, wherein the farther the distance is, the smaller the brightness value distribution amounts are;
each guiding robot pairs according to the light brightness value obtained by sensing the gas concentration and the brightness value distribution quantity sent by other guiding robots in the received group, and determines the guiding robot paired with the guiding robot;
after the guide robot matched with the robot is determined, the robot moves towards the matched guide robot and updates the position of the robot;
the spatial positions of the plurality of guiding robots in the group are spread over the leakage area of the gas by updating the positions of the guiding robots in the group.
Further, the guiding robot senses the gas concentration through the carried gas sensor; converting the perceived gas concentration value into a lamplight brightness value;
The ith guiding robot which detects the gas leakage at the current moment t updates the light brightness value XY i(t)＝max{0,b1·XYi(t-1)+b2·fi (t); wherein XY i (t-1) is the light signal intensity value of the ith guiding robot at the previous moment, and f i (t) is the concentration value of the leakage gas detected by the ith guiding robot at the current moment t; b 1 and b 2 are constants and satisfy 0.ltoreq.b 1.ltoreq.1 and b 2 >1.
Further, the ith guiding robot at the current moment distributes the quantity of the light brightness value of the jth guiding robot in the group:
Where i=1, 2, …, N, j=1, 2, …, N, k=1, 2, …, N, i+.k, i+.j; d ij is the Euclidean distance between the ith and jth lead robots, N is the number of robots in the group.
Further, the guiding robot is a bionic flying insect robot and can fly in a narrow space;
A gas sensor carried in the body of the bionic flying insect robot, and a gas concentration indicator lamp arranged at the tail part of the robot; the bionic flying insect robot is provided with Zigbee modules for establishing data communication links with the guiding robots in the group and with the piloting robots.
The invention can realize at least one of the following beneficial effects:
The task execution method of the multi-task robot based on formation transformation utilizes a plurality of guiding robots to realize the determination and indication of the leakage gas space region; and leading the task robot to reach the gas leakage area under the guidance of the multi-guide robot, and performing formation transformation according to the leakage condition so as to correspondingly control the leakage.
According to the invention, the guiding robots are distributed according to the concentration distribution of the leaked gas, and the brightness control of the leakage indicator lamps is carried out according to the concentration distribution of the gas, so that the indication of the gas leakage space region from the center of the leakage point to the leakage edge from light to dark is formed, and the alarm of the leakage region and the indication of the leakage region are realized.
According to the task robot, the task robot is navigated and positioned based on visual images and the distance measurement and positioning based on signal intensity indication, and the task robot is guided to the gas leakage area in two positioning modes.
The bionic flying insect robot including the butterfly robot is adopted for detection and space region determination, so that the bionic flying insect robot is convenient to stay in a narrow space in a complex region of a petrochemical station pipeline, 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, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a flow chart of a task execution method of a multi-task robot based on formation transformation in an embodiment of the invention;
FIG. 2 is a diagram illustrating an example of a queue shape in an embodiment of the invention;
Fig. 3 is a flowchart of a multi-robot detection method for spatial region determination in an embodiment of the present invention.
FIG. 4 is a top view of a butterfly robot in an embodiment of the invention;
FIG. 5 is a side view of a butterfly robot in an embodiment of the invention;
FIG. 6 is a front view of a butterfly robot in an embodiment of the invention;
FIG. 7 is a perspective view of a butterfly robot in an embodiment of the invention;
FIG. 8 is a schematic diagram of a butterfly robot detecting gas leaks in an embodiment of the invention; .
Fig. 9 is a schematic diagram illustrating a task robot performing secondary positioning according to an embodiment of the present invention.
Reference numerals: the fire extinguishing agent base station comprises a 1-miniature steering engine, a 2-carbon fiber rod, a 3-elastic film, a 4-plastic connecting component, a 5-wing component, a 6-wing driving component, a 7-main trunk, an 8-front wing, a 9-rear wing, a 10-wireless sensor, an 11-micro control power supply system, a 12-butterfly robot, a 13-petroleum gas pipeline, a 14-wireless sensor, 15-warning light, 16-leakage gas, 17-cracks, 18-guiding robot groups, 19-task groups, 20-piloting robots, 21-following robots and 22-moving fire extinguishing agent base stations.
Detailed Description
Preferred embodiments of the present application are described in detail below with reference to the attached drawing figures, which form a part of the present application and are used in conjunction with embodiments of the present application to illustrate the principles of the present application.
One embodiment of the invention discloses a task execution method of a multi-task robot based on formation transformation, which is shown in fig. 1 and comprises the following steps:
step S101, detecting gas leakage in a search space by a detection group consisting of a plurality of guiding robots; a plurality of guiding robots for detecting gas leakage in the same gas leakage area, wherein the guiding robots are distributed in the whole gas leakage area of the leakage point through the position movement of the robots, and the strength of the light indication signals sent by the guiding robots are used for representing the strength of the gas concentration of the area point where the detected robots are located; indicating the extent of the gas leakage area in the space by means of a light;
step S102, performing visual image navigation positioning and advancing to a gas leakage area by a task group consisting of a multi-task robot under the guidance of a light indication signal of a guiding robot;
Step S103, after reaching the gas leakage area, the multi-task robot performs queue expansion according to a designated task formation and executes a gas leakage control task; and selecting a target formation to perform formation transformation according to the perceived environmental change in the task execution process.
Specifically, in this embodiment, among the plurality of task robots included in the task group, a pilot robot in which a certain robot is a formation is designated, and the remaining robots are follower robots; the piloting robot is used for planning and coordinating the movement of the task group, and the following robot detects the distance and angle information of the following robot and the piloting robot in the perception range of the sensor carried by the following robot.
Specifically, the formation of the task group is a telescopic formation described by a directed acyclic graph; each robot is regarded as a vertex, and the relationship between the two robots is regarded as edges; each robot has a unique ID number, here the pilot robot is set to R L and the remaining follower robots are set to R F1,RF2,…,RF(n-1) in turn.
The general formula of the parameter matrix of the formation is:
Wherein F d is a shape parameter information matrix of the formation, i E [0, n-1] is the ID number of the robot; shape parameters of robot i Wherein f i1 is the number of the robot i, and f i2 is the desired distance to be maintained between the robot i and the pilot robotF i3 is the desired azimuth/>, between robot i and the piloting robotThe formation shape of the multi-task robot formation for the task group may be described as:
In this embodiment, an expected formation parameter matrix is built for formations including a line type, a wedge type, a column type, a triangle, a diamond and a circle to form a formation knowledge base, when a task is executed, the multi-task robots in the task group perform queue expansion according to the designated task formation, select a target formation according to the perceived environmental change to perform formation transformation, and when the formation transformation is performed, the expected formation parameter matrix of the target formation is called from the formation knowledge base, and each task robot moves according to the respective shape parameters to form the target formation.
Specifically, the embodiment also provides a desired formation parameter matrix representation of various formation shapes such as a straight shape, a wedge shape, a columnar shape, a triangle shape, a diamond shape, a round shape and the like: the shape of the array forming the shape of the straight line, the wedge shape, the column shape, the triangle, the diamond and the circle is shown in figure 2:
(a) Character formation: (b) Columnar formation: /(I) (C) Triangle formation: (d) Wedge formation: /(I) (E) Diamond formation: /(I)(F) Round formation: /(I)
The above-mentioned established expected formation parameter matrix cannot represent all structures of the formation, but is a special case of the formation, such as a line formation, and a new line formation can be obtained by adjusting the order of the robots or the distance between each robot and the pilot robot, but all formation shapes can be adjustedAnd/>Obtained.
When the multi-spherical robot system moves in a specified formation and performs effective formation transformation according to perceived environmental changes, the control can be performed by 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 a desired distance and azimuth angle between the following robot and the piloting robot, namely, the requirement thatTo achieve the holding of the formation or the transformation of the formation.
The time-varying formation controller with feedback control can refer to the existing formation controller adopting PID control, so that the piloting robot can track a series of track points planned in advance, and can follow a control target of keeping a desired distance and azimuth angle between the robot and the piloting robot. What kind of time-varying formation controller is adopted does not affect the protection scope of the invention.
In a specific embodiment, the plurality of task robots in the task group includes a plurality of walking robots and a mobile fire extinguishing agent base station;
The plurality of walking robots and the mobile fire extinguishing agent base stations are sequentially connected together, the first walking robot is a pilot robot R L in a queue, and the rest walking robots and the mobile fire extinguishing agent base stations are following robots R F1,RF2,…,RF(n-1);
The pilot robot R L is connected with the first following robot R F1 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 R F(n-2) is connected with a mobile fire-extinguishing agent base station R F(n-1) through the traction rope and the fire-fighting pipeline;
the pilot robot is used for performing visual image navigation positioning under the guidance of a light indication signal of the pilot robot, and dragging the following robot to travel to a gas leakage area; in the process of executing the task, the pilot robot provides position and angle references for formation expansion and formation transformation of the following robots; the following robot detects the piloting robot through a sensor carried by the following robot to obtain distance and angle information of the following robot and the piloting robot.
The walking robots serving as the following robots are all provided with fire extinguishing agent spraying heads and are connected with the movable fire extinguishing agent base station through fire extinguishing pipelines, and fire extinguishing agent is sprayed to leakage points through the fire extinguishing agent spraying heads in the process of executing tasks, so that gas leakage is controlled early, and gas combustion is prevented.
The mobile fire extinguishing agent base station stores fire extinguishing agent.
In a more preferred embodiment, the walking robot is a spherical-hexapod deforming robot; the spherical-hexapod deformation robot can roll on the ground to travel in a retracted state and can move through six feet in an extended state.
The product is smaller when the sphere is kept, and the road surface is required to be low by running in a rolling mode. When the robot is deployed as a hexapod robot, the fire extinguishing agent injection head can be extended to inject the fire extinguishing agent into the gas leakage area.
Specifically, the method for detecting gas leakage in the search space by the detection group consisting of a plurality of guiding robots in step S101, as shown in fig. 3, includes:
s301, a plurality of guiding robots in a detection group are randomly distributed in a search space in advance, each guiding robot has a gas concentration sensing function, and the sensed gas concentration is identified through a lamplight 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, guiding the robot to sense the concentration of leaked gas at the spatial position of the robot, and updating the light brightness value of the identification sensing gas concentration;
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 ith guiding robot which detects the gas leakage at the current moment t updates the light brightness value XY i(t)＝max{0,b1·XYi(t-1)+b2·fi (t); wherein XY i (t-1) is the light signal intensity of the ith guiding robot at the previous moment, and f i (t) is the concentration value of the leakage gas detected by the ith guiding robot at the current moment t; b 1 and b 2 are constants and satisfy 0.ltoreq.b 1.ltoreq.1 and b 2 >1.
S303, converting the brightness value of the lamplight according to the distance between the guiding robot and other guiding robots in the group to obtain a brightness value distribution quantity, and distributing the brightness value distribution quantity to the corresponding guiding robots, wherein the farther the distance is, the smaller the brightness value distribution quantity is;
The ith guiding robot at the current moment distributes the quantity of the light brightness value of the jth guiding robot in the group:
Where i=1, 2, …, N, j=1, 2, …, N, k=1, 2, …, N, i+.k, i+.j; d ij is the euclidean distance between the i-th and j-th guiding robots, and d ik is the euclidean distance between the i-th and k-th guiding robots; n is the number of robots in the group.
S304, each guiding robot performs robot pairing according to the light brightness value obtained by sensing the gas concentration and the brightness value distribution quantity sent by other guiding robots in the received group, and determines the guiding robot paired with the guiding robot;
When the robots are paired, the guiding robots are used for arranging the received light brightness value distribution quantity sent by other guiding robots in the group and the light brightness value measured by the sensor of the guiding robots in descending order from large to small; and selecting a robot in the previous position adjacent to the light brightness value of the robot in the descending order as a pairing robot.
Wherein, the robot pairing can be represented by the following formula:
XY(ithBF)＜XY(jthBF)
Where i=1, 2, N; j=1, 2,. -%, N; i th、jth refers to a descending order index of the guidance robot, BF refers to the guidance robot, and the guidance robot adjacent to the descending order index i th of the i-th guidance robot, i.e., the immediately preceding one in descending order, is paired with the i-th guidance robot.
S305, after the guide robot matched with the robot is determined, the robot moves towards the matched guide robot, and the position of the robot is updated;
specifically, the target position moved to the mating robot
Wherein x i (t+1) and x i (t) are the positions of the ith guiding robot at the next time and the current time, respectively; x l-mate (t) the position of the i-th guidance robot at the current time of the pairing robot, and B S is the movement step of the guidance robot.
S306, updating the positions of the guiding robots in the group, so that the spatial positions of the guiding robots in the group are distributed over the leakage area of the gas.
To enable the robots to spread out over a certain spatial area, a distribution of robots is formed covering the whole area of the leaked gas. In particular, in a region with complex pipelines in a petrochemical station, the space region of leaked gas is determined by the existence of a narrow space, and preferably, the guiding robot is a bionic flying insect robot and can fly in the narrow space;
and a gas sensor carried in the robot body of the bionic flying insect, wherein a gas concentration indicator lamp is arranged at the tail part of the robot.
The bionic flying insect robot is provided with Zigbee modules for establishing data communication links with robots in the group and task robots; a light sensor for sensing light intensity is provided; an ultrasonic sensor for obstacle avoidance is arranged; a satellite navigation module and/or a micro inertial navigation module for positioning are arranged.
In the detection process, if only one leakage point exists in the leakage area, and a bionic flying insect robot exists near the leakage point, the bionic robot detects the leakage gas and then indicates the concentration of the leakage gas through a gas concentration indicator lamp arranged at the tail part; other bionic flying insect robots in the nearby group fly towards the bionic flying insect robot according to the received brightness value distribution quantity of the bionic flying insect robot detecting the leaked gas, and after the other bionic flying insect robots fly to a leakage area, the gas sensors carried by the bionic flying insect robots detect the leaked gas, and the concentration of the leaked gas is indicated by the gas concentration indicator lamp arranged at the tail part; when a plurality of flying insect robots detect leakage gas, the robots are matched through the distribution quantity of the mutually distributed brightness values and the light brightness value obtained by sensing the gas concentration by the robots, the robots matched with the robots are determined, the robots are matched to move relatively, the space positions of the robots in the group are distributed over the gas leakage area through the position update of the robots in the group, the larger the leakage area is, the more the bionic flying insect robots detecting the leakage gas are, the larger the distributed space is, and the brightness of the gas concentration indicator lamp of the bionic flying insect robot positioned at the high concentration position of the leakage area is brighter, and the brightness of the gas concentration indicator lamp positioned at the low concentration position is low. In this way, in the gas leakage space region determined by the bionic flying robot, a gas leakage space region 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 detects leakage gas firstly, and the concentration of the leakage gas is indicated by a gas concentration indicator lamp arranged at the tail part; and distributing the brightness value distribution quantity to other surrounding bionic flying insect robots; in accordance with the above-described detection process, a biomimetic flying insect robot position distribution in an area around each leak point is formed, and a gas leakage space area indication from light to dark from the center of each leak point to the leakage edge is formed. And alarming and indication of the leakage area and central indication of the leakage area are facilitated.
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 component and a wing component; and a gas sensor is arranged in the main trunk, and a gas concentration indicator lamp is arranged at the tail part of the main trunk.
The wing components comprise a left wing component and a right wing component, which are respectively arranged on wing driving components arranged at two sides of the front end of the main trunk and are in mirror symmetry; in the wing component, the outer outline is fixed and formed through a plastic connecting component after being bent through a carbon fiber rod, so that an integral framework of the butterfly robot is formed, an elastic film is integrally cut according to the wing framework and is fixed on the wing framework by using an adhesive tape, and an elastic wing is formed; the wing component is driven by a driving steering engine arranged at the front part of the main trunk to drive the wings to beat, so that the wings are converted into thrust and lift force for flying, and the start and end phases of the double wings are independently controlled to realize pitching and yawing of the butterfly; and the control and power supply of the bionic butterfly ornithopter 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, a top view, a side view, a front view, and a perspective view of the butterfly robot are shown.
Adopt butterfly robot, carry on the sensor that detects petroleum gas and reveal, attach in dangerous source place, when revealing, the sensor detection signal, the butterfly afterbody sends identifiable light. Be equipped with wireless sensor on butterfly robot, give 100 groups through platform distribution instruction and take the unit, look for the danger source, when detecting the danger source, a butterfly leaves, reveal dangerous intensity with light indication, when same light luminance takes place for a group of butterflies, butterfly group spreads with the formation and seeks to reveal the source size to catch the danger source diffusion size. See fig. 8.
Specifically, in step S102, the pilot robot in the task group performs visual image navigation positioning under the guidance of the light indication signal of the pilot robot, so as to guide 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, and the light indication signal sent by the guiding robot is tracked by the camera equipment carried on the piloting robot to perform positioning navigation.
The pilot robot establishes a wireless communication link with the pilot robot in the gas leakage area; after the visual image signal of the task robot is lost, signal intensity indication ranging is performed through the signal intensity of the wireless communication link; and performing secondary positioning of the task robot according to the distance measurement of the plurality of guiding robots in the gas leakage area.
Specifically, in the method for performing signal strength indication (RSSI) ranging through the signal strength of a wireless communication link after the visual image signal of the pilot robot is lost,
The mathematical expression of the logarithmic-normal distribution model of RSSI localization is:
Where d is the distance from the transmitting node (lead robot) to the receiving node (pilot robot) in m; d 0 is the unit distance, typically 1m; p L (d) is the path loss after the distance d, and P L(d0) is the path loss after the unit distance; x 0 is a Gaussian random number with the mean value of 0, and the standard deviation range of the Gaussian random number is 4-10; n is a signal attenuation factor, which indicates the increasing speed of the path loss along with the increasing distance, when the value of n is smaller, the attenuation of the signal in the propagation process is smaller, the signal can propagate farther, and the range is generally 2-4.
The RSSI value received by the receiving node (piloting robot) is expressed as follows:
RSSI＝Pt-PL(d)
Where P t is the transmit power of the transmitting node.
From the above formula, P L(d0)＝Pt -A;
Since d 0 is typically taken as 1m and the mean value of X 0 is 0, the above formula is simplified as:
PL(d)＝Pt-A+10nlg(d)；
the expression of the RSSI value is:
RSSI＝A-10nlg(d)；
wherein A is the signal intensity at unit distance d 0, and n is the signal attenuation factor; d is the distance from the transmitting node to the receiving node.
If the receiving node measures the signal strength indication value RSSI of the signal of the transmitting node at the position of the receiving node, the distance from the receiving node to the transmitting node can be calculated according to the environment parameters A and n.
And determining the position of the guiding robot by using the signal intensity indication ranging value for at least three guiding robots through a trilateration method.
In one embodiment of the present invention, the task group as shown in fig. 9 performs a secondary positioning schematic.
In the figure, a pilot robot establishes a wireless communication link with a lead robot, performs signal strength indication ranging according to the signal strength of the wireless communication link, performs secondary positioning, and pulls other task robots in the task group to travel to a gas leakage area.
Specifically, in step S103, after reaching the gas leakage area, the multi-task robot obtains the desired formation parameters of the task formation from the formation knowledge base according to the designated task formation; performing queue expansion according to the expected formation 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 changing from the current formation to the target formation according to the expected formation parameters of the target formation.
In summary, the task execution method of the multi-task robot based on formation transformation disclosed in the embodiment can utilize a plurality of robots to realize detection and determination of the leakage gas space region. According to the invention, the robots are distributed according to the concentration distribution of the leaked gas, and the brightness control of the leakage indicator lamps is carried out according to the concentration distribution of the gas, so that the indication of the gas leakage space region from the center of the leakage point to the leakage edge from light to dark is formed, and the alarm of the leakage region and the indication of the leakage region are realized.
And moreover, the bionic flying insect robot including the butterfly robot is adopted for detection and space region determination, so that the bionic flying insect robot is convenient to stay in a narrow space in a complex region of a petrochemical station pipeline, and the space region of leaked gas is determined. The spherical-hexapod deformation robot is more convenient to pass in the complex environment of the petrochemical station.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (9)
1. A multi-task robot task execution method based on formation transformation is characterized by comprising the following steps:
A detection group consisting of a plurality of guiding robots performs gas leakage detection in a search space; a plurality of guiding robots for detecting gas leakage in the same gas leakage area, wherein the guiding robots are distributed in the whole gas leakage area of the leakage point through the position movement of the robots, and the strength of the light indication signals sent by the guiding robots are used for representing the strength of the gas concentration of the area point where the detected robots are located; indicating the extent of the gas leakage area in the space by means of a light;
The task group consisting of the multi-task robot is guided by the light indication signal of the guiding robot to perform visual image navigation positioning and advance to the gas leakage area;
After reaching the gas leakage area, the multi-task robot performs queue expansion according to the designated task formation and executes the control task of gas leakage; in the process of executing the task, selecting a target formation to perform formation transformation according to the perceived environmental change;
the task group comprises a plurality of walking robots and a mobile fire extinguishing agent base station;
the plurality of walking robots and the 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 the 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 pilot robot is used for performing visual image navigation positioning under the guidance of a light indication signal of the pilot robot, and dragging the following robot to travel to a gas leakage area; in the process of executing the task, the pilot robot provides position and angle references for formation expansion and formation transformation of the following robots;
The walking robots serving as the following robots are all provided with fire extinguishing agent spraying heads and are connected with a mobile fire extinguishing agent base station through fire extinguishing pipelines, and fire extinguishing agent is sprayed to leakage points through the fire extinguishing agent spraying heads in the process of executing tasks, so that gas leakage is controlled in an early stage, and gas is prevented from burning;
The guiding robot is a bionic flying insect robot and can fly in a narrow space; the bionic flying insect robot is a butterfly robot.
2. The method according to claim 1, wherein a certain robot is designated as a pilot robot of a formation among the plurality of task robots included in the task group, and the remaining robots are following robots; the piloting robot is used for planning and coordinating the movement of the task group, and the following robot detects the distance and angle information of the following robot and the piloting robot in the self-perception range;
the formation of the task group is a telescopic formation described by a directed acyclic graph; each robot is regarded as a vertex, and the relationship between the two robots is regarded as edges; each robot has a unique ID number, the pilot is set to R L, and the remaining follower robots are set to R F1,RF2,…,RF(n-1) in sequence.
3. The method for performing task by using a multi-task robot based on formation transformation according to claim 2, wherein the general formula of the parameter matrix of the formation is:
Wherein F d is a shape parameter information matrix of the formation, i E [0, n-1] is the ID number of the robot; shape parameters of robot i Wherein f i1 is the number of robot i, and f i2 is the desired distance/>, which needs to be maintained, between robot i and the pilot robotF i3 is the desired azimuth/>, between robot i and the piloting robot
4. The task execution method of a multitasking robot based on formation transformation according to claim 1, wherein a desired formation parameter matrix is built for formations including a straight shape, a wedge shape, a columnar shape, a triangle shape, a diamond shape and a circle shape, to constitute a formation knowledge base; when executing tasks, the multi-task robots in the task group perform queue expansion according to the designated task formation, select target formation to perform formation transformation according to perceived environmental change, and when the formation transformation is performed, the expected formation parameter matrix of the target formation is called from the formation knowledge base, and each task robot moves according to the respective shape parameters to form the target formation.
5. The method for performing task by a multi-task robot based on a formation transformation according to claim 1, wherein,
The pilot robot establishes a wireless communication link with the pilot robot in the gas leakage area; after the visual image signal of the task robot is lost, signal intensity indication ranging is performed through the signal intensity of the wireless communication link; and performing secondary positioning of the task robot according to the distance measurement of the plurality of guiding robots in the gas leakage area.
6. The method for performing task by a multi-task robot based on formation transformation according to any one of claims 1 to 5, wherein the method for detecting gas leakage in a search space by a detection group consisting of a plurality of guiding robots comprises:
A plurality of guiding robots in the detection group are randomly distributed in the search space in advance, each guiding robot has a gas concentration sensing function, and the sensed gas concentration is identified through a lamplight brightness value;
Guiding the robot to sense the concentration of leaked gas at the spatial position of the robot, and updating the light brightness value of the identification sensing gas concentration;
according to the distances between the guiding robots and other guiding robots in the group, converting the brightness values of the lamplight to obtain brightness value distribution amounts, and distributing the brightness value distribution amounts to the corresponding guiding robots, wherein the farther the distance is, the smaller the brightness value distribution amounts are;
each guiding robot pairs according to the light brightness value obtained by sensing the gas concentration and the brightness value distribution quantity sent by other guiding robots in the received group, and determines the guiding robot paired with the guiding robot;
after the guide robot matched with the robot is determined, the robot moves towards the matched guide robot and updates the position of the robot;
the spatial positions of the plurality of guiding robots in the group are spread over the leakage area of the gas by updating the positions of the guiding robots in the group.
7. The method for performing a task by a multi-task robot based on a formation transformation according to claim 6, wherein the guidance robot senses a gas concentration by a mounted gas sensor; converting the perceived gas concentration value into a lamplight brightness value;
The ith guiding robot which detects the gas leakage at the current moment t updates the light brightness value XY i(t)＝max{0,b1·XYi(t-1)+b2·fi (t); wherein XYi (t-1) is the light signal intensity value of the ith guiding robot at the previous moment, and f i (t) is the concentration value of the leakage gas detected by the ith guiding robot at the current moment t; b 1 and b 2 are constants and satisfy 0.ltoreq.b 1.ltoreq.1 and b 2 >1.
8. The method for performing task by a multi-task robot based on a formation transformation according to claim 7,
The ith guiding robot at the current moment distributes the quantity of the light brightness value of the jth guiding robot in the group:
Where i=1, 2, …, N, j=1, 2, …, N, k=1, 2, …, N, i+.k, i+.j; d ij is the Euclidean distance between the ith and jth lead robots, N is the number of robots in the group.
9. The method for performing task by a multi-task robot based on a formation transformation according to claim 6, wherein,
A gas sensor is carried in a bionic flying insect robot body, and a gas concentration indicator lamp is arranged at the tail part of the robot; the bionic flying insect robot is provided with Zigbee modules for establishing data communication links with the guiding robots in the group and with the piloting robots.
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