CN115469672B - Indoor distributed lighting robot cluster control method - Google Patents
Indoor distributed lighting robot cluster control method Download PDFInfo
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- CN115469672B CN115469672B CN202211360798.1A CN202211360798A CN115469672B CN 115469672 B CN115469672 B CN 115469672B CN 202211360798 A CN202211360798 A CN 202211360798A CN 115469672 B CN115469672 B CN 115469672B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention discloses an indoor distributed lighting robot cluster control method, which comprises a camera, a server and a plurality of robots which are arranged in an indoor space, wherein the camera and the robots are respectively in wireless communication with the server; according to the indoor distributed lighting robot cluster control method disclosed by the invention, the server does not participate in the calculation of cluster operation, and only collects and distributes messages. The server host collects only the location information of the individuals in the cluster, and broadcasts and issues the target points at the same time. The cluster individuals receive the broadcast information to obtain relative positions, and then one individual sends a control instruction to surrounding individuals, so that the operation pressure of the central server is reduced, and distributed control is realized.
Description
Technical Field
The invention belongs to the technical field of cluster control, and particularly relates to an indoor distributed lighting robot cluster control method.
Background
Cluster research is now becoming more widespread, but existing clusters mostly employ centralized control: the central server receives the information of the cluster individuals to calculate, and then sends an instruction to each cluster individual, so that the whole cluster is controlled. This can lead to problems such as large central server load and unreasonable resource allocation.
Disclosure of Invention
The invention provides an indoor distributed lighting robot cluster control method, and aims to solve the existing problems.
The invention is realized in this way, a indoor distributed lighting robot cluster control method, including setting up in the camera, server and multiple robots of the indoor space, said camera and robot are with the said server wireless communication separately, the said robot communicates wirelessly, each said robot is fitted with the colored lamp strip separately, the control method includes specifically:
s1, each robot controls a colored lamp strip to work at an initial position, wherein the color of the lamp strip represents the serial number of the robot;
s2, establishing a coordinate system in an indoor space by taking a camera as a reference, acquiring lamplight information of the robot by the camera, and transmitting the lamplight information to a server, wherein the lamplight information comprises lamplight colors and the position of a camera area where lamplight is located;
s3, the server acquires the light information, identifies the robot number, calculates the current position information of the robot, and broadcasts the current position information corresponding to all the robots in real time;
s4, each robot receives the broadcast information, stores the current position information corresponding to the number of the robot, the numbers of the three robots nearest to the robot and the current position information in a memory of the robot, and ends the work of the colored lamp band;
s5, broadcasting the target position information of each robot by the server, receiving and transmitting the broadcast information by each robot, and sending control instructions to adjacent robots to enable each robot to move to the target position;
and S6, after the robot reaches the target position, controlling the colored lamp strip to work, collecting light information by the camera and transmitting the light information to the server, calculating the position information of the robot by the server, and confirming that the robot reaches the target position.
Further, in step S5, the method specifically includes:
firstly, the robot i which receives the broadcast information transmits the broadcast information to surrounding robots, current position information of 3 robots with the numbers of x, y and z is stored in a memory of the robot i, and after target position information of all the robots broadcasted by a server is received, the robot i extracts the current position information and the target position information of the robot x to calculate, generates a control command and sends the control command to the robot x;
receiving the broadcast information by the robot x and transmitting the broadcast information to surrounding robots, storing current position information of 3 robots numbered m, n and r in a memory of the robot x, extracting the current position information and target position information of the robot m by the robot x for calculation, generating a control command and sending the control command to the robot m; meanwhile, the robot x receives a control instruction and starts to move;
and so on;
the robot k receives the broadcast information and transmits the broadcast information to surrounding robots, current position information of 3 robots with the numbers of a, b and c is stored in a memory of the robot k, the robot k extracts the current position information and target position information of the robot a to calculate, generates a control command and sends the control command to the robot a; if the robot a receives control instructions sent by other robots, the robot k extracts the current position information and the target position information of the robot b to calculate, generates a control instruction and sends the control instruction to the robot b; if the robot b receives control instructions sent by other robots, the robot k extracts the current position information and the target position information of the robot c to calculate, generates a control instruction and sends the control instruction to the robot c; meanwhile, the robot k receives a control command and starts to move;
until all robots have received the control command.
Further, the robot is a hexagonal differential robot.
Further, the robots communicate with each other by infrared rays.
Further, in step S6, the server calculates the position information of the robot and confirms that the robot reaches the target position, which specifically includes:
if the position information is matched with the target position information, the server generates and broadcasts confirmation information corresponding to the robot, and the robot stops working after receiving the confirmation information;
and if the position information is not matched with the target position information, the server sends the position information of the corresponding robot and the target position information again and broadcasts the position information and the target position information, and the robot storing the corresponding robot number receives the broadcast information and sends a control command to the robot so as to move the corresponding robot to the target position.
Compared with the prior art, the invention has the beneficial effects that: according to the indoor distributed lighting robot cluster control method disclosed by the invention, the server does not participate in the calculation of cluster operation, and only collects and distributes messages. The server host collects only the location information of the individuals in the cluster, and broadcasts and issues the target points at the same time. The cluster individuals receive the broadcast information to obtain relative positions, and then one individual sends a control instruction to surrounding individuals, so that the operation pressure of the central server is reduced, and distributed control is realized.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a diagram of the initial position of the robot of the present invention;
fig. 4 is a diagram of the target position of the robot of the present invention.
In the figure: 11-robot, 12-camera, 13-server.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Examples
Referring to fig. 1, the present invention provides a technical solution: the utility model provides an indoor distributed lighting robot cluster control method, includes camera 12, server 13 and a plurality of robot 11 of setting in the interior space, camera 12 and robot 11 respectively with server 13 wireless communication, wireless communication between the robot 11, every install colored lamp area respectively on the robot 11, control method specifically includes:
s1, each robot controls a colored lamp strip to work at an initial position, wherein the color of the lamp strip represents the serial number of the robot;
s2, establishing a coordinate system in an indoor space by taking a camera as a reference, acquiring lamplight information of the robot by the camera, and transmitting the lamplight information to a server, wherein the lamplight information comprises lamplight colors and the position of a camera area where lamplight is located;
s3, the server acquires the light information, identifies the robot number, calculates the current position information of the robot, and broadcasts the current position information corresponding to all the robots in real time;
s4, each robot receives the broadcast information, stores the current position information corresponding to the number of the robot, the numbers of the three robots closest to the robot and the current position information in a memory of the robot, and finishes the work of the colored lamp band;
s5, broadcasting the target position information of each robot by the server, receiving and transmitting the broadcast information by each robot, and sending control instructions to adjacent robots to enable each robot to move to the target position;
and S6, after the robot reaches the target position, controlling the colored lamp strip to work, collecting light information by the camera and transmitting the light information to the server, calculating the position information of the robot by the server, and confirming that the robot reaches the target position.
In step S5, the method specifically includes:
the method comprises the following steps that firstly, a robot i receiving broadcast information transmits the broadcast information to surrounding robots, current position information of 3 robots with the numbers of x, y and z is stored in a memory of the robot i, and after target position information of all the robots broadcasted by a server is received, the robot i extracts the current position information and the target position information of the robot x to calculate, generates a control instruction and sends the control instruction to the robot x;
receiving the broadcast information by the robot x and transmitting the broadcast information to surrounding robots, storing current position information of 3 robots numbered m, n and r in a memory of the robot x, extracting the current position information and target position information of the robot m by the robot x for calculation, generating a control command and sending the control command to the robot m; meanwhile, the robot x receives a control instruction and starts to move;
and so on;
the robot k receives the broadcast information and transmits the broadcast information to surrounding robots, current position information of 3 robots with the numbers of a, b and c is stored in a memory of the robot k, the robot k extracts the current position information and target position information of the robot a to calculate, generates a control command and sends the control command to the robot a; if the robot a receives control instructions sent by other robots, the robot k extracts the current position information and the target position information of the robot b to calculate, generates a control instruction and sends the control instruction to the robot b; if the robot b receives control instructions sent by other robots, the robot k extracts the current position information and the target position information of the robot c to calculate, generates a control instruction and sends the control instruction to the robot c; meanwhile, the robot k receives a control command and starts to move;
until all robots have received the control command.
In step S6, the server calculates the position information of the robot and confirms that the robot reaches the target position, which specifically includes:
if the position information is matched with the target position information, the server generates and broadcasts confirmation information corresponding to the robot, and the robot stops working after receiving the confirmation information;
and if the position information is not matched with the target position information, the server sends the position information of the corresponding robot and the target position information again and broadcasts the position information and the target position information, and the robot storing the corresponding robot number receives the broadcast information and sends a control command to the robot so as to move the corresponding robot to the target position.
Test examples
As shown in fig. 2, a control system is built in an indoor area, and includes a camera, 6 robots (numbered 1, 2,3,. And 6, respectively), and a server.
The server can communicate with the camera, the server can communicate with 6 robots, and the 6 robots can communicate with each other;
before the task starts, the camera can collect the light information of the robot (the number of the robot is transmitted), and the server calculates the current position of the robot according to the internal and external parameters of the camera and broadcasts the position. The robot will receive the broadcast, and record the number and position information of the robot and the numbers and positions of the three robots nearest to the robot in the memory of the robot.
As shown in fig. 3, there are 6 robots in the imaging area, and the three nearest to the robot No. 1 are the robot No. 2,3,4; the robot which is closest to the robot No. 2 is No. 1,3,5; the nearest robot to No. 3 is No. 1,4,6; by analogy, the cluster individuals store the position information of the 3 individuals closest to the cluster individuals.
After the task starts, the server will issue the final location information, as shown in fig. 4;
since the final position is determined, the relative position between the individuals is also determined. Since the server is not involved in the calculation, the robot itself stores the initial values and also knows the target values. Therefore, the robots themselves perform calculations, and the robots receive commands via the infrared transmitting and receiving devices.
For example: the car 6 in figure 3 is intended to be moved to the position in figure 4. Since the vehicle 5 is closest to the vehicle 6, the vehicle 5 sends a control command through the infrared transmitting device, and the vehicle 6 moves to the target position. And the 6 # vehicle can send the distance information to the 5 # vehicle in real time through the infrared transmitting device in the moving process. Therefore, data interaction and communication between the robots are realized.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The indoor distributed light robot cluster control method is characterized by comprising the following steps: the control method comprises a camera, a server and a plurality of robots which are arranged in an indoor space, wherein the camera and the robots are in wireless communication with the server respectively, the robots are in wireless communication with each other, each robot is provided with a colored lamp strip, and the control method specifically comprises the following steps:
s1, each robot controls a colored lamp strip to work at an initial position, wherein the color of the lamp strip represents the serial number of the robot;
s2, establishing a coordinate system in an indoor space by taking a camera as a reference, acquiring lamplight information of the robot by the camera, and transmitting the lamplight information to a server, wherein the lamplight information comprises lamplight colors and the position of a camera area where lamplight is located;
s3, the server acquires the light information, identifies the robot number, calculates the current position information of the robot, and broadcasts the current position information corresponding to all the robots in real time;
s4, each robot receives the broadcast information, stores the current position information corresponding to the number of the robot, the numbers of the three robots nearest to the robot and the current position information in a memory of the robot, and ends the work of the colored lamp band;
s5, broadcasting the target position information of each robot by the server, receiving and transmitting the broadcast information by each robot, and sending control instructions to adjacent robots to enable each robot to move to the target position;
s6, after the robot reaches the target position, controlling the color lamp strip to work, collecting light information by the camera and transmitting the light information to the server, calculating the position information of the robot by the server, and confirming that the robot reaches the target position;
in step S5, the method specifically includes:
the method comprises the following steps that firstly, a robot i receiving broadcast information transmits the broadcast information to surrounding robots, current position information of 3 robots with the numbers of x, y and z is stored in a memory of the robot i, and after target position information of all the robots broadcasted by a server is received, the robot i extracts the current position information and the target position information of the robot x to calculate, generates a control instruction and sends the control instruction to the robot x;
the robot x receives the broadcast information and transmits the broadcast information to surrounding robots, current position information of 3 robots with the numbers of m, n and r is stored in a memory of the robot x, the current position information and target position information of the robot m are extracted by the robot x for calculation, and a control command is generated and sent to the robot m; meanwhile, the robot x receives a control instruction and starts to move;
and so on;
the robot k receives the broadcast information and transmits the broadcast information to surrounding robots, current position information of 3 robots with the numbers of a, b and c is stored in a memory of the robot k, the robot k extracts the current position information and target position information of the robot a to calculate, generates a control command and sends the control command to the robot a; if the robot a receives control instructions sent by other robots, the robot k extracts the current position information and the target position information of the robot b to calculate, generates a control instruction and sends the control instruction to the robot b; if the robot b receives control instructions sent by other robots, the robot k extracts the current position information and the target position information of the robot c to calculate, generates a control instruction and sends the control instruction to the robot c; meanwhile, the robot k receives a control command and starts to move;
until all robots have received the control instruction.
2. The indoor distributed lighting robot cluster control method according to claim 1, characterized in that: the robot is a hexagonal differential robot.
3. The indoor distributed lighting robot cluster control method according to claim 1, characterized in that: the robots communicate with each other by infrared rays.
4. The indoor distributed lighting robot cluster control method according to claim 1, wherein in step S6, the server calculates position information of the robot and confirms that the robot reaches the target position, specifically comprising:
if the position information is matched with the target position information, the server generates and broadcasts confirmation information corresponding to the robot, and the robot stops working after receiving the confirmation information;
and if the position information is not matched with the target position information, the server sends the position information of the corresponding robot and the target position information again and broadcasts the position information and the target position information, and the robot storing the corresponding robot number receives the broadcast information and sends a control command to the robot so as to move the corresponding robot to the target position.
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