CN1256224C - Open-type network robot universal control systems - Google Patents
Open-type network robot universal control systems Download PDFInfo
- Publication number
- CN1256224C CN1256224C CN 03129538 CN03129538A CN1256224C CN 1256224 C CN1256224 C CN 1256224C CN 03129538 CN03129538 CN 03129538 CN 03129538 A CN03129538 A CN 03129538A CN 1256224 C CN1256224 C CN 1256224C
- Authority
- CN
- China
- Prior art keywords
- robot
- interface
- network
- task
- behavior
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a universal control system for open-type network robots, which is applied to the fields of robot design manufacture and robot intelligent research. A universal distributed object model of a network robot is established by adopting distributed objects and a remote interface technology on the basis of a universal robot control system. Base class objects of ten distributed objects and the interfaces thereof are defined, namely an action object and an action value setting interface, a state object and a state setting interface, a behavior object and an expectation state outputting interface, a behavior chart object and a traversal behavior interface, an object of a behavior decision-making device and a decision-making interface, a task object and a task executing interface, a task sequence object and a traversal task interface, a perception space object and perception information inputting and outputting interface, a perception information object, and a sensor object and a perception information outputting interface. The spontaneous interconnection between a robot and a robot device and the network plug-and-play of robot components are realized by the system by a service publishing-searching model.
Description
Technical field:
The present invention relates to a kind of open network machine people general-purpose control system, on all-purpose robot hierarchy of control basis, adopt distributed objects and remote interface technology to set up the universal distributed object model of network robot, announce that by service one searches the network plug and play that model is realized the spontaneous interconnected and robot assembly between robot and robot device, be mainly used in robot and manufacture and design, the intelligent robot research field.
Background technology:
Total nearly 1,000,000 robot is moving in the world now, and Robotics has formed tool new industry with broad prospects for development.And utilize modern network technology that robot system is carried out Long-distance Control and operation, also become one of up-to-date robot research direction.So-called network robot technology discloses and studies efficiently, develops, operates and test robot system through the Internet network exactly, to realize the resource-sharing and the exchange of technology of height.
It is investigated that Samsung Gwangju Electronics Co has applied for " using the robot cleaner system of mobile communications network " patent, this system can utilize the robot cleaner system of mobile communications network from the far distance controlled clean robot.This robot cleaner system sends view data after the video camera shot image data of installing is converted to mobile communication signal, the user can control robot by mobile communications network remote.This system is the dedicated network control system at special purpose robot's design, thereby does not have versatility, and the control carrier is a communication network.
Shanghai Communications University has applied for " the general open control system of OO robot " patent (number of patent application 03128900.2) in addition.This system can realize the generalization control of various isomery robot.But this system can only be applied to the local robot under the non-network environment, thereby can't realize generalization, the open control system of network robot.
Internet technology and robot body manufacturing technology are mature on the whole at present, and its function and structure be standardization day by day also.Therefore the technical difficult points of network robot Application and Development concentrates on the independence aspect of the network platform, network interface, network resource usage and network robot.Yet up to the present, nearly all network robot application system all adopts special-purpose network robot platform, the network robot platform can only articulate particular machines people headend equipment, front end robot equipment can only be understood the control and the environmental information of specific network server, the unitized network robot control system of one cover does not appear as yet, can realize unified network control:, also lack the unified network insertion scheme of a cover at present in order to instruct the networked retrofit work of local robot for a large amount of existing local robots based on various robots of Internet and robot device; In addition, in the existing network robot system, connection between the robot assembly on robot and the network (as this extraterrestrial sensor of robot) must be when the establishment system, task according to robot, designing the corresponding interface in advance is connected with network, and can not accomplish that the plug and play ground between network robot and network sensor is connected by Internet, and then realize that the machine people is for finishing particular task, required network information resource is sought on independence ground, and connects the intelligent behavior of corresponding network sensor.
Study open universal network robot control system and be and expand the network robot range of application, realize network robot practicability, popular key based on Internet.
Summary of the invention:
The objective of the invention is the open network machine people general-purpose control system that research and design one cover is applied to the Internet network, make based on the various isomery robots of this system research and development and the communication mutually of robot headend equipment, mutual, control, and then realize the plug and play of spontaneous according to demand interconnected and each assembly of each inter-module of robot system, thereby constitute intelligentized distributed robot's application system and provide unitized robot network to insert embodiment.
For reaching this purpose, the present invention applies for a patent in Shanghai Communications University on the basis of " the general open control system of OO robot ", application distribution object technology and remote interface technology have been set up the universal distributed object model of network robot, and adopt the network plug and play of serving between a spontaneous interconnected and robot assembly who searches between model realization robot and robot device, finally realized open network robot general-purpose control system.This control system can be finished the interconnected of various isomery robots and sensor and integrate, but realize the intelligent robot control program that cross-node is transplanted, support the network plug and play between the spontaneous interconnected and robot assembly between robot and robot device, finally provided unitized robot Long-distance Control and network insertion scheme.
The present invention is the robot network's control system that is based upon on the all-purpose robot hierarchy of control.The all-purpose robot hierarchy of control has been described a kind of unitized control method of robot.This hierarchy of control adopts hybrid structure robot control strategy; Use the universal intelligent control of the control model realization robot of task layer, behavior layer, three level of action layer; Use module collections such as aware space, perception information, sensor, processing, synchronously, store machine people's heat transfer agent.Wherein, action layer is as the lowermost layer of robot control, encapsulated the executing agency of robot by action and state, and the unified control method that has shielded robot hardware's structure is provided for the behavior layer on it; Behavior layer has encapsulated the reaction equation behavior control strategy of robot, has realized the behavior control that robot is real-time by behavior, behavior figure and behaviour decision making; Task layer has then encapsulated the robot planning strategy, provides the robot decision process of changing in proper order by task and task sequence.Finally, the all-purpose robot hierarchy of control robot is constituted and control module abstract be following ten unit: action, state, behavior, behavior figure, behaviour decision making device, task, task sequence, aware space, perception information and sensor.
The present invention is on the basis of the all-purpose robot hierarchy of control, distributed objects and remote interface technology are incorporated in the robot controlling platform, be distributed objects with each unit package in the all-purpose robot hierarchy of control and defined its remote interface, finally formed the all-purpose robot control distributed objects model that is applicable to the Internet network.By introducing distributed object technology and remote interface technology, the present invention has set up the distributed objects model of the all-purpose robot hierarchy of control, has finally defined following ten distributed base class sub-objects and interface thereof: action object and setting working value interface, status object and set condition interface, object of action and output expectation state interface, behavior figure object and traversal behavior interface, behaviour decision making device object and decision-making interface, the task object and the interface of executing the task, task sequence object and traversal task interface, aware space object and input and output perception information interface, perception information object and sensor object and output perception information interface.More than in each distributed objects, action and status object must be positioned on the network node of binding with robot actuating mechanism, sensor object must be positioned on the network node of binding with physical sensors, the perception information object then must be stored in the aware space object, and other all objects then all can be used as independent network node and exist.These distributed objects and interface constitute whole system as follows:
Status object and action object are directly controlled all executing agencies of robot.Status object comprises some action objects, and is these action object assignment.The setting value that the action object receive status is given, and drive respective execution mechanisms.Object of action each the time inscribe according to the expectation state of making a strategic decision out of one or several perception information object in the aware space object.Inscribe when a robot is a certain and can have several action objects simultaneously, they each all provide an expectation state object.Behavior figure object has then been described the compound mode (as chained list, tree etc.) and the dominance relation of inscribing all behaviors when a robot is a certain.Behaviour decision making device object is then according to the expectation state of all behaviors in the behavior figure object, and the end-state object of making a strategic decision out is given status object and carried out.Task object can read and generate the perception information object, also can be in a period of time by obtaining perception information, the syntagmatic in act of revision object and the behavior figure object or generate new object of action.A plurality of task objects are formed the task sequence object, and carry out successively in order.The aware space object comprises some perception information objects.These perception information objects are produced by sensor object or task object, and are read by objects such as object of action, task objects.The perception information object can transmit in the object mode in network node.The aware space object is responsible for collecting, synchronously, mutual perception information object between buffering, storage sensors and behavior layer or task layer.Sensor object is the read loop environment information from environment, produces the perception information object, and it is deposited in the aware space object.
The present invention adopts service to announce that one searches model and realizes location between robot and robot device and spontaneous interconnected.Service announcement one is searched model and is made up of agent list, service object, target client.Service is meant that the distributed objects example of each robot assembly in system can offer the function of other object, and these functions are described by the remote interface of this object in actual applications.By calling the parameter of remote interface and transmission objectification, the target client can be provided by service object's the various services that provide.In all-purpose robot control distributed objects model, each distributed objects is in its establishment or access network, all service and the relevant information such as network attribute with it is published in all addressable table of all distributed objects, and this table is called as agent list.Agent list can be arranged in the arbitrary node of network.When the target client needs certain service object to provide service for it, search the service object that required service can be provided in the agent list of arriving.Like this, announce that by service one searches model, that can realize between each distributed objects in the robot system connecting as required is spontaneous interconnected.
Agent list can be arranged in network arbitrarily can be by on the network node of all node visits, or is made up of jointly several the autosynchronous agent lists in network.Storing network site, object properties of service, the object of all objects in the system etc. in the agent list.The target client can find service object's network site according to the service or the attribute of required object in agent list, thereby is connected among the required service object.In native system, each object according to its functional definition in the all-purpose robot hierarchy of control remote access interface.Interface can adopt the interfacing concept of Java language to realize in Java language by a kind of special class description, supports then to adopt the mode of empty method and virtual pair elephant to realize in the object-oriented language at other.The remote access of interface then can realize by technology such as RMI or .Net Remoting, CORBA/IDL.Agent list then can adopt Jini technology or other method to realize.In native system, each object when creating or when linking network all at first the mode by clean culture or broadcasting be connected to agent list in the system, and separately top base class type, remote access interface type, object type, network site, adeditive attribute are published in this table.Top base class sub-object is meant nine kinds of objects such as action object, status object, object of action, behavior figure object, behaviour decision making device object, task object, task sequence object, aware space object and sensor object of describing in the all-purpose robot control distributed objects model.Adeditive attribute is meant one group of descriptive data type, is packaged in the attributes object, is used to describe out of Memory, as the state of object, and needed information during the work of robot systems such as the physical location of object.
When certain object in the system need be with other object interaction, then at first judge accessed object whether with oneself be present on the consolidated network node, if, then use the interface of quoting this object of visit between object, otherwise remote interface type or attribute by accessed object in the agent list of arriving find this object network position, and be mutual with it by the remote interface that calls this object then.Only it is pointed out that and do not know service object's network site or do not know which object can be under its situation that service is provided that the target client just searches the service object in agent list the target client.For a particular machines robot system, most of objects all can be predicted required service object's type and position when establishment, thereby need not to search by agent list.The search procedure of service only just can occur when the particular task of robot needs certain unknown sensor object to provide perception information for it usually.
The present invention announces that in conjunction with distributed object technology and service one searches model on all-purpose robot hierarchy of control basis, finally realized open network machine people general-purpose control system.The present invention is by using distributed object technology to the modeling of the all-purpose robot hierarchy of control, set up open, easy-to-use, healthy and strong, general network robot control distributed objects model, and make between the legacy network node and to be converted into mutual between distributed objects alternately by various network topologies, shielded the details of network structure, for the realization of whole platform provides convenience.Simultaneously, the present invention has introduced the remote interface technology, the functional interface of each object in the system is embodied as can be by the remote interface of remote object invocation, makes the far call by remote interface of being reduced to alternately between object of distribute objects, thereby has shielded the details of procotol.Distributed object technology has solved the distributed encapsulation problem of each module in the system, the remote interface technology then makes simplifying greatly alternately of these objects, and solved network data packets for transmission integrity issue, but and and then by the mutual robot control program who has realized that cross-node is transplanted between object.The present invention announces that by service one searches model and realized that autonomous robot spontaneously searches information needed and robot assembly's network plug and play, various robots and robot device's unified control method and network access mode have finally been realized being applicable to, realize the cross-platform transplanting of intelligent robot control program, realized the spontaneously plug and play ground mutual contact mode between robot and robot device.Native system has provided general unified network robot Long-distance Control and network insertion scheme, for the codes and standards that provides architecture and technology to realize is is provided for the unified control of robot, distributed robot, make each research and development institution of robot can with reference to this standard independently develop can be compatible robot product or technology realize, thereby improve research efficient, promote the Robotics development.
Description of drawings:
Fig. 1: the universal distributed object model of network robot
Fig. 2: the network robot general-purpose control system that is applied to the differential type mobile robot
The specific embodiment:
Below in conjunction with drawings and Examples technical scheme of the present invention is further described.
Open network machine people general-purpose control system is mainly used in robot and manufactures and designs the intelligent robot research field.It adopts distributed objects and remote interface technology to set up the universal distributed object model of network robot, the base class sub-object and the interface thereof of following distributed objects have been defined, as shown in Figure 1: action object and setting working value interface, status object and set condition interface, object of action and output expectation state interface, behavior figure object and traversal behavior interface, behaviour decision making device object and decision-making interface, the task object and the interface of executing the task, task sequence object and traversal task interface, aware space object and input and output perception information interface, perception information object and sensor object and output perception information interface.Wherein, status object and action object are directly controlled all executing agencies of robot, and status object is the action object assignment, the setting value that the action object receive status is given, and drive respective execution mechanisms.Object of action each the time inscribe according to the robot expectation state of making a strategic decision out of the perception information object in the aware space object.Behavior figure object factory robot inscribe the compound mode and the dominance relation of all behaviors when a certain.Behaviour decision making device object is then according to the expectation state of all behaviors in the behavior figure object, and the end-state object of making a strategic decision out is given status object and carried out.Task object can read and generate the perception information object, but the also syntagmatic in act of revision object and the behavior figure object or generate new object of action.A plurality of task objects are formed the task sequence object, and carry out successively in order.The aware space object comprises some perception information objects that can transmit in the object mode that produced by sensor object or task object in network node, and is responsible for collection, synchronous, these perception information objects of buffer storage.Sensor object is the read loop environment information from environment, produces the perception information object, and it is deposited in the aware space object.Open network machine people general-purpose control system announces that by service one searches the network plug and play that model has been realized the spontaneous interconnected and robot assembly between robot and robot device.Application system research and development network robot application example needs at first for robot sets up the universal distributed object model of network robot, uses service to announce that one searches model and sets up the spontaneous interconnected and plug and play that agent list is realized each inter-module then.
The application example of the present invention on the differential mobile robot of two-wheel as shown in Figure 2.5 have legal ' the Internet node of address formed native system:
The IP202.120.8.136 node is as robot actuating mechanism controller and sonar sensor, directly links with the executing agency of robot, is responsible for driven machine people executing agency and gathers sonar data.Status object, revolver action object, right wheel action object and sonar sensor object run on this node.Wherein, status object is responsible for accepting the state value that behaviour decision making device object is given, and this state is decomposed into the setting value of each action, gives each action object.Revolver action, right wheel action object then drive executing agency's motion according to setting value.The sonar sensor object is periodically gathered sonar data from the physics sonar sensor, and it is encapsulated as sonar perception information object, deposits in the aware space of IP202.120.8.134 node.
The IP202.120.8.134 node moves behavior figure object, object of action and the aware space object of robot as the master controller of robot.This mobile robot's operation has the behavior of two reflection formulas.The mobile behavior object is responsible for defining expectation state, and robot is advanced to intended target.Keep away the barrier object of action and then be responsible for to check sonar perception information object, therefrom find barrier, and the definition expectation state orders about robot and carries out and keep away the barrier motion.Behaviour decision making device object then according to the priority of this two object of action of behavior figure object factory, from the expectation state of two object of action, give the status object of IP202.120.8.136 node and carry out by the end-state of making a strategic decision out.The aware space object then be responsible for to collect, synchronously, store sonar perception information object and visually-perceptible information object.
The IP202.120.8.47 node is connected with an outer vision sensor of robot body.Target identification task object and the operation of vision sensor object are thereon.The vision sensor object is gathered visual information, and it is packaged in the visually-perceptible information object.The target identification task object then is responsible for picking out target information from visual information.
IP202.120.8.67 node operation Jini server.The agent list of this robot adopts the Jini technology to realize.Store revolver action object, right wheel action object, status object, mobile behavior object in this agent list, keep away the top base class type, remote access interface type, object type, network site (IP address) and the adeditive attribute that hinder object of action, behavior figure object, behaviour decision making device object, user task object, target identification task object, sonar sensor object, vision sensor object, aware space object.
The IP211.80.42.20 node is as the client node of robot Long-distance Control, run user interactive task object, this object has man-machine interface, be responsible for obtaining from remote operator the spatial positional information of robot movable target by man-machine interaction, and revise the mobile behavior parameter, robot is advanced to the intended target position.
More than the object that moves on each node all adopt Java language to be embodied as distributed objects, its interface is embodied as the interface that can be distributed formula object far call by RMI (RMI) mode.The Jini server uses Reggie service (registration service) to realize agent list.The service of each distributed objects is described by the interface of this object, shown in the table specific as follows:
Agent list
| Object | Top base class | Remote interface | The network site | Adeditive attribute |
| The revolver action object | Action object | Set the revolver rotating speed | IP202.120.8.136 | The rotating speed action attributes |
| Right wheel action object | Action object | Set right wheel speed | IP202.120.8.136 | The rotating speed action attributes |
| Status object | Status object | Set end-state | IP202.120.8.136 | Status attribute |
| The mobile behavior object | Object of action | The target setting position | IP202.120.8.134 | The mobile behavior attribute |
| Keep away the barrier object of action | Object of action | Setting keeps away the barrier action | IP202.120.8.134 | Keep away the barrier parameter attribute |
| Behavior figure object | Behavior figure object | Act of revision priority | IP202.120.8.134 | Behavior figure attribute |
| Behaviour decision making device object | Behaviour decision making device object | Revise decision parameters | IP202.120.8.134 | The decision-making device attribute |
| The user task object | Task object | Start man-machine interface | IP211.80.42.20 | Task attribute |
| The target identification task object | Task object | Set identified parameters | IP202.120.8.47 | Task attribute |
| The aware space object | The aware space object | Input and output perception information object | IP202.120.8.134 | The aware space attribute |
| The sonar sensor object | Sensor object | Output sonar perception information | IP202.120.8.136 | Position attribution |
| The vision sensor object | Sensor object | Output visually-perceptible information object | IP202.120.8.47 | Position attribution |
In this system, each object finds agent list by mode of unicast when creating, and information such as interface type that then will be separately and network site are registered in this agent list.When robot worked with the remote operator control model, robot relied on sonar sensor and remote operator acquired disturbance and the target information on the body.The user interactions task object is set the robot movable target position by mutual with remote operator, and this parameter is write in the mobile behavior object.The behaviour decision making device will go out end-state according to the priority decisions of keeping away barrier object of action and mobile behavior object then, and is carried out by status object and a left side/right side wheel action object, and robot is advanced to the remote operator desired destination.When robot switches to the utonomous working pattern by the remote operator control model, be equivalent to target identification task object and vision sensor object connecting system, robot can be spontaneously finds the network site of these two objects in the agent list, these two objects also can arrive the network site of finding other object in the robot system in the agent list, make target identification task object and vision sensor object insert whole system, form the plug and play of vision sensor, at this moment, set the target location parameter of mobile behavior object by the target identification task object, thereby finish robot autonomous mobile task.
By using open network machine people general-purpose control system, this robot has set up open, easy-to-use, healthy and strong distributed robot's object system, announce that by service one searches model and realized that autonomous robot spontaneously searches the plug and play ground of information needed and sensor and vision sensor and insert robot system, finally finished network robot application example based on Internet control.
Claims (1)
1, a kind of open network machine people general-purpose control system, it is characterized in that on all-purpose robot hierarchy of control basis, distributed objects and remote interface technology are incorporated in the robot controlling platform, be distributed objects with each unit package in the all-purpose robot hierarchy of control and defined its remote interface, the base class sub-object and the interface thereof of following ten distributed objects have been defined: action object and setting working value interface, status object and set condition interface, object of action and output expectation state interface, behavior figure object and traversal behavior interface, behaviour decision making device object and decision-making interface, the task object and the interface of executing the task, task sequence object and traversal task interface, aware space object and input and output perception information interface, perception information object and sensor object and output perception information interface, more than in each distributed objects, action and status object are positioned on the network node of binding with robot actuating mechanism, sensor object is positioned on the network node of binding with physical sensors, the perception information object then is stored in the aware space object, other object then all can be used as independent network node and exists, adopt service announce-to search model and realize location between robot and robot device and spontaneous interconnected and robot assembly's plug and play, service announce-is searched model by agent list, the service object, the target client forms, wherein, storing the top base class type of each distributed objects in the agent list, the remote access interface type, object type, network site and adeditive attribute, agent list can be arranged in network arbitrarily can be by on the network node of all node visits, or is made up of jointly several the autosynchronous agent lists in network; When certain object in the system need be with other object interaction, then at first judge accessed object whether with oneself be present on the consolidated network node, if, then use the interface of quoting this object of visit between object, otherwise remote interface type or attribute by accessed object in the agent list of arriving find this object network position, and be mutual with it by the remote interface that calls this object then.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129538 CN1256224C (en) | 2003-06-26 | 2003-06-26 | Open-type network robot universal control systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129538 CN1256224C (en) | 2003-06-26 | 2003-06-26 | Open-type network robot universal control systems |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1472047A CN1472047A (en) | 2004-02-04 |
| CN1256224C true CN1256224C (en) | 2006-05-17 |
Family
ID=34153575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03129538 Expired - Fee Related CN1256224C (en) | 2003-06-26 | 2003-06-26 | Open-type network robot universal control systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1256224C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4271160B2 (en) * | 2005-03-23 | 2009-06-03 | ファナック株式会社 | Network opening method in production system |
| CN100389013C (en) * | 2005-04-01 | 2008-05-21 | 北京理工大学 | Reconstruction of human emulated robot working scene based on multiple information integration |
| US8301302B2 (en) * | 2008-05-08 | 2012-10-30 | The Boeing Company | Synchronous robotic operation on a structure having a confined space |
| CN102263819A (en) * | 2011-07-18 | 2011-11-30 | 中交四航工程研究院有限公司 | System and method for monitoring engineering safety based on sensor network |
| CN103279667B (en) * | 2013-05-29 | 2015-11-04 | 东南大学 | The service model of componentization robot system and network assistance resource utilization method |
| CN111474897B (en) * | 2020-04-07 | 2021-07-06 | 中科新松有限公司 | Robot programming method based on assembly and computer readable storage medium |
-
2003
- 2003-06-26 CN CN 03129538 patent/CN1256224C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1472047A (en) | 2004-02-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107598928B (en) | Camera and robot control system and its automatic adaptation method based on semantic model | |
| CN101286058B (en) | Robot modularized distribution type adaptive control system and method | |
| Gmytrasiewicz et al. | A Rigorous, Operational Formalization of Recursive Modeling. | |
| Asama | Trends of distributed autonomous robotic systems | |
| CN105467997B (en) | Based on the storage robot path planning method that linear time temporal logic is theoretical | |
| CN108196453A (en) | A kind of manipulator motion planning Swarm Intelligent Computation method | |
| CN1256224C (en) | Open-type network robot universal control systems | |
| Wenna et al. | A digital twin for 3D path planning of large-span curved-arm gantry robot | |
| CN116414081A (en) | Intelligent workshop real-time monitoring method based on digital twinning | |
| CN105955230A (en) | Intelligent manufacturing workshop real-time monitoring method based on Unity 3D | |
| CN110216672A (en) | Information interacting method, server and construction robot | |
| Rockel et al. | A multi-robot platform for mobile robots—A novel evaluation and development approach with multi-agent technology | |
| Dixon et al. | RAVE: A real and virtual environment for multiple mobile robot systems | |
| CN100585527C (en) | Hierarchical real-time data mapping method of macrotype distributed control system | |
| CN1255251C (en) | Robot unirersal open control system facing object | |
| CN101295327B (en) | Harbor monitoring data virtual display device and method | |
| Maimon et al. | An object-based representation method for a manufacturing cell controller | |
| Akbarimajd et al. | Autonomously implemented versatile path planning for mobile robots based on cellular automata and ant colony | |
| CN115270213A (en) | Twin method, subscription method and system for current state of entity | |
| Zeng et al. | Virtual and physical systems intra-referenced modelling for smart factory | |
| Klavins | Automatic compilation of concurrent hybrid factories from product assembly specifications | |
| Kruger et al. | An open simulator architecture for heterogeneous self-organizing networks | |
| Lin et al. | Modeling and analysis of message passing in distributed manufacturing systems | |
| CN117644520B (en) | Multi-arm robot picking task planning method, device, electronic equipment and medium | |
| Liu et al. | A Brief Review of Recent Hierarchical Reinforcement Learning for Robotic Manipulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060517 |