CN107247460A - A kind of cluster control method and system of machine honeybee - Google Patents

Abstract

The invention relates to a cluster control method and system of robotic bees. The robotic honeybees can perceive the external environment through their own sensor modules, and the positioning system locates their own position for group cooperation. Communicate with each other, and the cooperative controllers in the robot bees form a distributed computer network through communication and networking. The communication module of the swarm control system is used for communication between the user and the machine bee swarm, including issuing instructions and assigning tasks, and the synchronization module is used to unify the time standard of the machine bee swarm. The obvious benefit of the present invention is that the "IQ" of a single robot bee is not high, the cost is low, and the control is simple, but the entire robot bee cluster can form a self-organizing network for distributed collaborative computing to meet the difficult tasks that a single robot bee cannot do Need, there is no need for manual intervention in the process of task execution, and it has dynamic self-healing ability and high reliability.

Description

A swarm control method and system for robotic bees

technical field

The invention belongs to the field of application of intelligent robots and the field of swarm control, and specifically relates to a method and system for swarm control of robot bees.

Background technique

With the rapid development of computer and mechanical automation technology, people are constantly developing new intelligent robots to help us do complex, delicate, dangerous, and large-scale work to reduce our pressure and protect personal safety. The emergence of some new robots has brought a lot of convenience to our lives, such as lunar probes, EOD robots, service-type (restaurant service-type, welcome-type) robots, and drones.

However, at present, most of the robots stay at a single individual to complete a task, and the disadvantages are obvious.

First of all, the individual abilities of robots are often limited, and they often encounter tasks that cannot be completed by a single individual. Especially in complex scenes such as search, rescue, battlefield, etc., a single individual is obviously not competent, even if multiple individual robots are used, it is also difficult to be competent, and it is even easy to hinder the normal order of people. The "IQ" of a single robot is limited, and its control chip can often only complete calculation tasks of predetermined difficulty. In the process of performing tasks, there are often occasions when the "IQ" of a single robot is exceeded.

Secondly, task assignment in the field of robotics is currently difficult, especially large tasks and multi-tasks. When the task is to draw a map or measure a complex building, it is extremely complicated to give specific instructions to the robot one by one. When completing a complex task, there is no mutual cooperation involved. Relying on continuous assignment of tasks to robots and manual cooperation will lead to low efficiency of task completion. In the process of performing tasks, various unexpected situations will also occur, such as the robot loses contact with the controller. If human intervention is lost at this time, the robot will often fail the task due to insufficient intelligence.

Finally, robots also have a certain probability of failure. In the case of a single robot operation, the failure of a single individual often means the failure of the entire task. In complex multi-robot tasks, each robot has a specific task, which is indispensable and irreplaceable. Once a problem occurs in one link (robot), the entire task will be affected, such as the robot hand on the assembly line.

Cluster control, which has emerged in recent years, is an effective solution. The swarm behavior is a collective behavior of creatures, the most typical example is the appearance that a group of entities gather together to circle or move in a specific direction. Insects, birds, fish, aquatic animals, humans and bacteria in the biological world all exhibit flocking behavior. A better solution is to give the robot cluster an overall task, and the group can decompose, collaborate, work in sections, and complete the task seamlessly. But, also do not have a kind of swarm control method and system of robotic honeybee on the market at present.

Contents of the invention

In order to solve the above-mentioned technical problems, the present invention proposes the following technical solutions: a method and system for cluster control of robotic bees, including a robotic honeybee system and a cluster control system; the robotic honeybee system includes a cooperative controller, a sensor module, a positioning system, an actuator, Communication module; the cluster control system includes a controller, a communication module, and a synchronization module;

When the robot bees are required to perform the same task, the controller of the cluster control system is used to calculate and generate the task information and resource requirements required by the collective of the robot bees; the synchronization module is used to generate synchronization information and unify the individual robot bees in the entire group The time standard; the communication module sends the task information and resource requirements generated by the controller of the swarm control system and the synchronization information generated by the synchronization module to each robot bee; the communication module of the robot bee can receive the communication signal of the swarm control system, and Communication signals from other robot bee systems; after receiving the communication signals, they can respond according to their current tasks and resource conditions; the sensor module of the robot bee system will perceive the real-time status of the outside world; the positioning system detects the real-time location and surrounding environment of the robot bee Information; the actuator is used to complete various predefined actions of the robot bees, including take-off, flight, landing, acceleration, deceleration, honey harvesting, etc.; the collected data is transmitted to other robot bees in the same team through the communication module of the robot bee system, In order to carry out information sharing and coordination of bee clusters; the cooperative controller can perform distributed calculations with the cooperative controllers of other machine bees, and form a distributed cluster cooperative controller through communication modules, which can be based on their respective physical status and task status. , and the relevant information of neighboring bees for analysis and collaborative calculation, and then adjust the position and corresponding actions of the robot bees to achieve the purpose of completing the same task collaboratively.

There is a one-to-many relationship between the cluster control system and the robot bee system, and they can be connected through a communication module.

The cluster control system, including a controller, a communication module, and a synchronization module, does not need to be connected to the network of the robot bee system all the time, and only needs to be connected to the network to arrange a task once when arranging tasks; Within the working range of the communication module of the cluster control system, task information released by the communication module of the cluster control system can be received.

The cooperative controller of the robot bee system can form a distributed computing network with the cooperative controllers of other nearby robot bee systems through the communication module, and jointly complete the task objectives assigned by the controller of the cluster control system.

The robot bee system perceives the information of the outside world according to the sensor module, so as to control and coordinate with the nearby robot bees, and guide the cooperative controller to control the work of the four modules in the robot bee system to cooperate to complete the corresponding task actions; the sensor module of the robot bee system Contains visual perception (including cameras), olfactory perception to be able to recognize flower pollen, avoid obstacles, and help recognize other situations (such as recognizing robotic bees through vision and communication). In addition, robot bees rely on computer vision (sensor modules and positioning systems) to detect the environment, analyze the characteristics of the surrounding environment, realize self-planning paths, and avoid obstacles.

The robot bee system can locate the position of the robot bee itself according to the positioning system, so as to become the basis for information exchange, task assignment and operation adjustment with companions.

The robot bee system controls the current various actions of the robot bee through the actuator, including the flight mechanism, crawling mechanism, and honey collecting mechanism.

The robot bee system can communicate with other robot bee systems through the communication module, and can also communicate with the swarm control system. Preferably, an ad hoc network is used.

The controller of the cluster control system is used to obtain the user's instructions and task data, and decompose and calculate the user's instructions and task data, and distribute them to the machine bee cluster.

The communication module of the swarm control system is used for information transmission, including issuing task information to multiple robotic bee systems, and can also receive data from multiple robotic bee systems (such as robotic bees returning images, task completion return reports), and Synchronization information and time signals can be issued to multiple robotic bee systems.

The synchronization module of the cluster control system is a standard time signal, which is used to regulate the time of the entire machine bee cluster, to ensure that different machine bees can unify their respective time standards when receiving tasks, and receive the synchronization success or failure information sent back by the machine bees .

The distributed computing network is formed by the cooperative controllers distributed in each robot bee system, and the task decomposition calculation and the behavior control of the robot bees are completed, and then the entire group is controlled; the user only needs to assign a task once, and after the task is assigned, During the entire task execution process, there is no need for mandatory central controller and user intervention; the robot bee system has the characteristics of autonomy, and is highly connected to each other and perceives each other. The failure of a certain robot bee does not affect the smooth completion of the entire task. .

A cluster control method and system of robotic bees according to the present invention mainly have the following advantages:

First, the ability to perform tasks that the individual cannot perform. Through the distributed computing of multiple robot bees to improve their "IQ" and "ability", multiple robot bees can show smarter "IQ" and stronger "ability" than a single robot bee, and can complete more complex and demanding tasks. Higher "IQ" tasks. For the robot bees controlled by the cluster, the "IQ" of a single individual is still very low, but the cooperation and distributed computing of multiple robot bees can show higher "IQ" and computing power in terms of global performance and overall performance. .

Second, the control and task assignment of the bee colony is simple. Users only need to send instructions and task information to the robot bee cluster at the beginning, and the robot bees will assign and decompose tasks by themselves. When performing tasks, the individual robot bees act independently, and the actions are local and independent; the robot bees only need local information to act, even if they cannot know the global information, individuals can act; and they act anonymously, independent of identity, It is possible to complete the task without knowing the individual information. Robot bees in a certain area can avoid similar obstacles and maintain good and orderly air traffic without user intervention.

Thirdly, the clustered robot bees can improve the failure redundancy. A single high-reliability robot may fail to affect task execution due to failure, but even if one or several robot bees in the cluster fail, the cluster as a whole can continue to work to ensure the smooth completion of the task, so the robot bee cluster of the present invention has good stability , high reliability and high robustness. The current UAV communication mode is mainly based on the communication between a single machine and a ground station, and the information transmission is still centralized. The decentralized machine bee cluster can realize high-speed information sharing between UAVs by using self-organizing network technology. At the same time, it improves the anti-fault and self-healing capabilities of the cluster.

Finally, the present invention can resolve conflicts among multiple machines in a limited space, and satisfy functional requirements in a low-cost and highly decentralized form. The single robot bee of the present invention is small in size, low in cost, simple in structure and low in chip requirements, and the clustered robot bees can complete high-difficulty tasks such as distributed detection, distributed calculation, distributed voting, and distributed attack at low cost. Accomplish goals at a higher standard through the collaboration of multiple simple, small platforms.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Fig. 1 is a schematic diagram of the system structure of a swarm control method and system for robotic bees according to the present invention.

Fig. 2 is a design and implementation of a multi-robot bee terminal group of a robot bee cluster control method and system according to the present invention.

Fig. 3 is a schematic diagram of the system workflow of a method and system for controlling a swarm of robotic bees according to the present invention.

detailed description

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, a kind of system structural representation of the cluster control system based on robotic bees provided for the example of the present invention, comprises following modules:

A cooperative controller (101), a sensor module (102), a positioning system (103), an actuator (104), a communication module (105), a controller (106), a communication module (107), and a synchronization module (108).

The hardware of the collaborative controller (101) is divided into a CPU module, a power supply module, a digital I/O input module, a digital I/O output module and an analog I/O module, and each module is connected through a backplane connection module. The power supply module provides various levels of working voltage for each module; the CPU module is the core of the entire cooperative controller system, and constitutes a virtual PLC system with other I/O modules. By transplanting the embedded system in the CPU module, the application program can be executed, and The signal of the input module is collected and processed to control the output of other I/O modules to achieve the purpose of function customization. The CPU of the co-controller. The collaborative controller, preferably, uses an ARM Cortex-A9 microprocessor as the control chip, exceeds 2.0 DMIPS/MHz, and can be configured with a cache memory of up to 2MB, suitable for applications that require high performance, low power consumption, cost-sensitive, and single-core processing The solution of the device; the extended 16MB SDRAM is used to execute the internal embedded operating system to improve the running speed of the whole system; the extended 8MB Flash chip is used as the storage of the embedded operating system and application program; the RS232 communication interface 1 is used as the whole The monitoring interface of the device monitors the startup information of the system through the interface software provided by the host computer. At the same time, it serves as a debugging interface, which can realize functions such as setting the system variables of the device through commands; the Ethernet interface realizes communication with the host computer, and quickly downloads the embedded The system and application programs monitor the changes in the operating status of the system and realize the information interaction between the upper computer and the virtual PLC system; the I2C bus interface communicates with peripheral devices based on this protocol. The interface signal processing module should realize the connection between the device and the external I/O interface. In order to suppress noise signals and prevent sensitive circuits from being damaged due to sudden changes in external voltage, digital I/O circuits need to use optocouplers, and realize signal input through pull-up resistors and optocouplers, and realize signal output through pull-down resistors and optocouplers. The analog I/O circuit uses PCF8591 chip. The circuit preprocessing part mainly completes functions such as signal filtering and level conversion. First, the on-site analog quantity is converted into an applicable voltage signal after A/D conversion, and then the conversion is performed. The voltage input signal passes through the filtering and voltage clamping circuit, and then performs level gain conversion to input to the A/D interface; if it is a 4-20 mA current input, it first performs I/V conversion and then processes it. The analog output signal of PCF8591 is held by the internal keeper, so that the existing output signal can be kept unchanged before the new output signal arrives, so that the driving signal of the actuator is kept, and the output signal of the keeper is filtered and converted by gain And the power amplifier circuit is sent to the actuator, and the output voltage is 0-10 V, and the actuator is controlled to act according to the required control law.

The entire software system of the cooperative controller (101) is composed of four parts, which are Bootloader guide program, Linux operating system, system service program and user application program. Bootloader mainly completes hardware detection and system guidance; the operating system mainly manages system hardware devices, shields the specific details of hardware, and provides standard interfaces to upper-layer applications to facilitate the writing and transplantation of applications; system service programs provide services to users The program provides necessary services for the user's application program; the user application program in this device is the program code for realizing the virtual PLC function. U-Boot is used as a boot loader to initialize hardware devices and establish a memory space map, so that the system's hardware and software environment can reach a suitable state, so that the correct environment can be prepared for the final call to the operating system kernel. Then decompress the kernel image, and then jump to the kernel image entry. The Linux operating system includes two parts: the Linux kernel and the root file system: the Linux kernel transplants the Linux system and various device drivers according to the actual hardware conditions of the device. The Linux kernel compiles the kernel for the CPU target board of the virtual PLC system to realize various device drivers for the CPU module, including network interface, RS232 serial port, I2C bus driver, and interrupt driver for the three operating states of the device; the root file system is used to store various tools (Linux commands, etc.), applications, necessary link libraries, etc., the device uses RAMDISK as the root file system, which connects the memory RAM with the disk DISK, and opens up a space in the memory as a disk. Execute the user's init program to complete system initialization, start related services and manage user login. The system service program mainly includes the following parts: use the lrz/lsz toolkit to compile and generate rz, sz tools to realize the upload and download of the application program on the serial port; use the bftpd tool to compile and generate the FTP server client program to realize the host computer login server Upload and download the application program; write the device state judgment program, and realize the download, operation and stop of the device by reading 3 different states. The user application program is an executable file generated by compiling the ladder diagram program of the PLC. Since RAMDISK is loaded and run in the memory SDRAM, the data will not be saved after power failure. Therefore, in order to save the downloaded device executable file and some data that needs to be saved, Make the Jffs2 file system so that it can efficiently and directly operate the flash chip, and fully consider the unexpected power failure. When the Linux system is started, the Jffs2 file system is automatically mounted to a folder in RAMDISK, and the user can easily Create and save the application.

The sensor module (102) mainly includes a visual perception device (camera), an olfactory sensor, and a tactile perception device. The sensor module detects the movement and working conditions of the robotic bees in real time, and feeds back to the collaborative controller as needed. After comparing with the set information, the actuator is adjusted to ensure that the movements of the robotic bees meet the predetermined requirements. Sensors can be roughly divided into two categories: one is the internal information sensor, which is used to detect the internal conditions of each part of the robot, such as the position, speed, acceleration, etc. of each limb, and send the measured information as a feedback signal to the collaborative control device to form a closed-loop control. One is the external information sensor, which is used to obtain information about the work object of the robot bee and the external environment, so that the robot's actions can adapt to changes in the external situation, so that it can achieve a higher level of automation, and even make the robot have certain functions. A kind of "feeling" is developed towards intelligence. For example, external sensors such as vision and smell provide information about the working object and the working environment, and use this information to form a large feedback loop, which will greatly improve the working accuracy of the robot.

The vision sensor is installed at the position of the bee eyes of the robot bee, and is used to obtain the position of the robot bee in three-dimensional space, and help identify flowers, pollen, obstacles or mission targets and the like. Preferably, use brand: A LINE OFDEFENSE/ No. 1 defense line, model: network camera with PTZ, zoom, photosensitive area: 1/3 inch, effective distance greater than 30m, lens size specification 2.8mm. Further, the camera is composed of two or more cameras with different angles to form an array to form a full range of position monitoring; further, the camera and the three-dimensional positioning and tracking device jointly complete the tracking and positioning of the user, further improving position positioning, analysis, and judgment. , collision calculation and motion trajectory analysis and evolution.

The olfactory sensor is installed under the eyes of the robotic bee, and its main component is a gas sensor, which is used to find the source of smell (such as finding blooming flowers and identifying pollen). Odor molecules are adsorbed by the sensor array in the machine olfactory system to generate electrical signals; the generated signals are processed and transmitted by various methods; the processed signals are judged by the computer pattern recognition system.

The tactile sensing device is the sensing information generated by force feedback, which is installed on the limbs of the robot bee, including touch sense, pressure sense, force sense and slip sense. Touch sense, detecting whether to contact with the object, the position of contact, determining the position of the object, recognizing the shape of the object, controlling the speed, ensuring safety, stopping abnormally, and finding the path; sensor components include photoelectric sensors, micro switches, film characteristics, pressure-sensitive polymers Material. Pressure sense, detect the pressure on the object, grip force, pressure distribution, control the grip force, identify the grip object, and measure the elasticity of the object; sensor devices include piezoelectric elements, conductive rubber, and pressure-sensitive polymer materials. Force sense, detecting the external force and torque on the relevant parts of the robot bee (such as feet), controlling the movement of the feet, servo control, and completing the work in a positive way; sensor devices include strain gauges and conductive rubber. Slip sense, detecting the displacement of the object in the vertical direction of the grip surface, the deformation caused by gravity, correcting the grip force, preventing slipping, judging the weight and surface state of the object; sensor devices include spherical contact type, photoelectric rotation sensor, angle encoder, and vibration detector.

The executive mechanism (104) is installed in the body of the robotic bee, including a flying mechanism, a crawling mechanism, a honey collecting mechanism, etc., and each mechanism includes a driving circuit and a mechanical device. The drive circuit is the circuit that drives the actuator to move. According to the command signal sent by the cooperative controller, the mechanical device makes the robot bee perform actions (such as flight, acceleration, deceleration, landing, body movements, etc.). Its input is electrical signal, and its output is line and angular displacement. Preferably, an electric drive device such as a stepping motor, a servo motor, etc. is used in order to reduce the volume.

The positioning system (103) is installed in the body of the robot bee, including measuring its own position and the distance from surrounding objects. When measuring your own position, use GPS positioning. Position sense is responsible for detecting the position, angle and distance of the object, detecting the spatial position of the object, and judging the movement of the object; the sensor device is a photosensitive array, CCD, etc. Detect whether the object is in contact, the position of the contact, determine the position of the object, identify the shape of the object, control the speed, ensure safety, stop abnormally, and find the path. The sensor components are photoelectric sensors, micro switches, film characteristics, and pressure-sensitive polymer materials. Preferably, when measuring the distance between itself and the surroundings, the sensor uses an infrared sensor. The positioning of the infrared sensor has the advantages of high sensitivity, simple structure, and low cost. They have high angular resolution and low distance resolution. Among them, it is used as a proximity sensor to detect approaching or sudden movement obstacles, which is convenient for the robot bee to stop and avoid obstacles in an emergency.

The communication module (105) is installed in the body of the robotic bee. The communication module (107) is installed in the cluster system. A multi-level relay self-organizing network system composed of multiple ZigBee modules through wireless communication, and ZigBee can sense, collect and process ZigBee devices in the area in cooperation with each other. Preferably, the ZigBee wireless module and the WIFI module are used, and the ZigBee wireless module node adopts CC2530 of TI Company as the main controller chip. The chip is a true system-on-chip solution for 2.4GHz IEEE 802.15.4, ZigBee and RF4CE applications. It combines the excellent performance of a leading RF transceiver based on 51 cores, in-system programmable flash memory, 8KB RAM and many other powerful features. It has the characteristics of low complexity, low power consumption, low speed, low cost, self-organizing network, high reliability, and beyond line-of-sight. It is a networking protocol based on self-organizing network and multi-point relay, which can realize mesh topology . Moreover, ZigBee has a unicast mode and a broadcast mode. On the one hand, the controller at the headquarters sends task information to the robot bees, and also allows the robot bees to communicate with each other. In the unicast mode, the data is sent from a source device to a target device; in the unicast mode, the data is sent by the source device, and then sent to the destination address directly or after several stages of transfer. Unicast transmissions are available between all devices joining the Zigbee network. The specific routing relationship is maintained and queried by the coordinating node/routing node. In the broadcast mode, the data is sent from a source device to all devices in the entire network; in the broadcast mode, the data is sent by a device to all devices in the entire Zigbee network directly or through routing, and its destination address uses 16. FFFF. In that device only the coordinator supports broadcasting. WIFI is a technology that allows electronic devices to connect to a wireless local area network (WLAN), preferably, using 2.4G UHF or 5G SHF ISM radio frequency band; the transmission speed is very fast, can reach 54Mbps, in line with the swarm system issued to the machine bee Request for task information.

The controller (106) is installed in the cluster system and is mainly used for transmitting mission information. Composed of program counters, instruction registers, instruction decoders, timing generators, and operation controllers, it is the "decision-making body" that issues commands, that is, completes the coordination and command of the entire cluster system operation. Advantech UNO-2171-P12E is recommended. Device Type: Industrial Controller. Function overview: On-board integrated Celeron M 1.0GHz, 512MB DDR DRAM provides 512KB battery backup SRAM, supports LM sensor, can obtain CPU and board temperature, and is used to monitor 2 RS-232 and 2 RS-232/422/485 ports , with automatic data flow control 2 10/100Base-T RJ-45 ports 2 USB and 1 Type I/II PC card 2 optional PC/104 expansion Windows CE.5.0 and Windows XP Embedded solutions support Windows 2000 /XP and Linux drivers. Product Feature 1: P-M 1.4 G, 1 GB RAM UNO-2171.

The synchronization module (108) is installed in the cluster system, including a display screen and a server. On the one hand, the information sent back by the robot bees is received through the communication module, processed by the controller and visualized on the display screen, and secondly, the information such as the time of the robot bees is adjusted to maintain the unity of their time and other standards. Synchronous display is available: led full-color screen led display synchronous control launch box T13E or led full-color high-definition display led full-color screen usb patented synchronous control card launch card. The display screen is available: Xincaichen PH4 surface-mounted three-in-one indoor full-color LED display, parameters: general specifications: product specification PH4, pixel diameter 4mm, point center distance 4mm, pixel density 62500 dots/㎡, unit board size 256 ×128mm. Display specifications: screen resolution 128×128, display primary color full color, pixel composition 1R1G1B, viewing angle horizontal: 140° vertical: 100°, viewing distance 3-25m, white balance brightness ≧ 2000cd/㎡, display mode displayed synchronously. Electrical specifications: maximum power 2600W/㎡, average power 1800W/㎡, working voltage AC 220V±15% 50HZ. Other specifications: Refresh frequency 180HZ, drive mode 1/16 scan (dynamic), transmission distance 100m (no relay), working environment storage temperature: -40-85°C working temperature: -10-50°C, service life 7500- 10000 hours, product weight 18Kg/m2, other performance Brightness adjustment method: Brightness sensor automatic adjustment: 16 levels adjustable, computer operating system: WIN98, WINXP, WIN2000, etc, software manual adjustment: 100 levels adjustable 100, video signal: RF, S-Video, RGB, RGBHV, YUV, YC, COMPOSITION, etc. Control system: PCTV card (optional) + DVI graphics card + main control card + optical fiber transmission (optional).

As shown in Figure 2, it is an internal embodiment of the cluster control method and system of a robotic bee according to the present invention. After the communication module of the robotic honeybee is frequency-selected, demodulated, received and processed from the signal sent by the cluster system, Hand over the processed information to the cooperative controller. The cooperative controller combines the positioning module contained in the input module with GPS (mainly GPS) positioning. Do split calculations. Among them, the CPU in the hardware of the cooperative controller is responsible for calculation, input data through the digital I/O input module, and the analog I/O module is used to balance the signal for circuit preprocessing, mainly to complete functions such as signal filtering and level conversion. The on-site analog quantity is converted into an applicable voltage signal after A/D conversion and then converted, and the memory will store the data information if necessary. Through the output information of the digital I/O output module, a set of plans most suitable for the current operation of the robot bee is obtained, and then handed over to the executive agency for execution. After the executive agency obtains the plan from the collaborative controller, it controls the limbs of the robot bee according to the instructions. (wings, feet, tentacles, mouth, straw, etc.) to complete the corresponding actions, and then complete the task. When necessary, the robot bee will also modulate outwards (other robot bees or cluster systems) through its communication module, and the transmitting module will transmit signals. During the whole period, the power module will supply power to all internal structures of the entire robotic bee.

As shown in Figure 3, it is a schematic diagram of the workflow of the robot bee system provided by the example of the present invention. After the user opens the terminal of the cluster system, the system starts and initializes information, and the user sends task information through the controller of the cluster system. Robotic bees receive tasks and perform preliminary task division (such as functional division, area division, etc.). Plan, choose a safe, road-close path option, and take off. When flying, the robot bees avoid obstacles in real time, and keep a safe distance from neighboring robot bees, and adjust the route within the safe distance. After flying to the destination, according to the first arriving robot bee, with him as the center, the cluster begins to disperse tasks. According to the behavior of neighboring robot bees, the robot bees determine their specific scope of duties and essentials through algorithms, and start to execute Task. When the current task is completed, check whether the overall task is completed. If the overall task is not completed, then fill it up. Then divide the scope of work according to the behavior of neighboring bees, and adjust their behavior to cooperate with other robot bees. Complete the task; if a robot bee fails, is scrapped, or loses contact for a long time (the time can be set according to different tasks), the task that the bee is completing is considered unfinished; if the overall task has been completed, the task ends.

Through the above description, those skilled in the art can make various changes and modifications without departing from the technical idea of the present invention, all of which are within the protection scope of the present invention. Matters not covered in the present invention belong to the common knowledge of those skilled in the art.

Claims (10)

1. A swarm control method and system for robotic bees, characterized in that: it includes a robotic bee system (100) and a swarm control system (109); the robotic bee system (100) includes a cooperative controller (101), a sensor A module (102), a positioning system (103), an actuator (104) and a communication module (105); the cluster control system (109) includes a controller (106), a communication module (107) and a synchronization module (108); It is characterized in that: when the robot bees are required to perform the same task, the controller (106) of the cluster control system (109) is used to calculate and generate the task information and resource requirements required by the collective of the robot bees; the synchronization module (108) uses To generate synchronization information, and unify the time standards of individual robot bees in the entire group; the communication module (107) combines the task information and resource requirements generated by the controller (106) of the cluster control system, and the synchronization information generated by the synchronization module (108) Send to each robot bee; the communication module (105) of the robot bee can receive the communication signal of the cluster control system and the communication signal of other robot bee systems; after receiving the communication signal, it can respond according to its current task and resource situation; The sensor module (102) of the robot bee system (100) can perceive the real-time state of the outside world; the positioning system (103) detects the real-time location of the robot bee and the surrounding environment information; the actuator (104) is used to complete various robot bee pre-defined Actions, including take-off, flight, landing, acceleration, deceleration and honey; the collected data is transmitted to other robot bees in the same team through the communication module (105) of the robot bee system, so as to share information and coordinate the bee cluster; The cooperative controller (101) performs distributed calculations on the cooperative controllers that can communicate with other robot bees, and forms a distributed cooperative controller through the communication module (105), which can be based on their respective physical states and task states, as well as the correlation between adjacent bees. The information is analyzed and collaboratively calculated, and then the position and corresponding actions of the robot bees are adjusted to achieve the purpose of collaboratively completing the same task. 2. A method and system for controlling a swarm of robotic bees according to claim 1, characterized in that: the swarm control system (109) and the robotic bee system (100) have a one-to-many relationship, and they can be connected through Communication module to contact. 3. A swarm control method and system for robotic bees according to claim 1, characterized in that: the swarm control system (109) includes a controller (106), a communication module (107) and a synchronization module (108), It is not necessary to maintain the network with the robot bee system (100) all the time, only need to arrange the task once when the task is arranged; when the task is arranged, all the robot bee systems (100) are in the communication module of the cluster control system (109) (107) Within the working scope, the task information issued by the communication module (107) of the cluster control system (109) can be received. 4. The cluster control method and system of robotic bees according to claim 1, characterized in that: the cooperative controller (101) of the robotic bee system (100) can communicate with other nearby machines through the communication module (105) The cooperative controller (101) of the honeybee system (100) forms a distributed computing network, and jointly completes the task target assigned by the controller (106) of the cluster control system (109). 5. A method and system for controlling a swarm of robotic bees according to claim 1, characterized in that: the robotic bee system (100) perceives external information according to the sensor module (102), so as to control and coordinate with nearby robotic bees , to instruct the collaborative controller (101) to control the work of the four modules in the robot bee system to cooperate to complete corresponding task actions; the sensor module of the robot bee system includes visual perception (including cameras) and olfactory perception, so as to be able to identify flower pollen , avoid obstacles, and help identify other situations (such as identifying robot bees through vision and communication), in addition, robot bees rely on computer vision (sensor modules and positioning systems) to detect the environment, analyze the characteristics of the surrounding environment, and realize self-planning paths , to avoid obstacles. 6. A method and system for controlling a robotic bee cluster according to claim 1, characterized in that: the robotic bee system (100) can locate the position of the robotic bee itself according to the positioning system, so as to exchange information with companions, Basis for assignment of tasks and adjustment of operations; The robot bee system (100) controls various current actions of the robot bee through the executive mechanism (104), including a flight mechanism, a crawling mechanism and a honey collection mechanism; The robot bee system (100) can communicate with other robot bee systems through the communication module (105), and can also communicate with the cluster control system (109), preferably, using an ad hoc network. 7. A swarm control method and system for robotic bees according to claim 1, characterized in that: the controller (106) of the swarm control system (109) is used to obtain user instructions and task data, and send the user The instructions and task data are decomposed and calculated, and distributed to the machine bee cluster. 8. A method and system for controlling a swarm of robotic bees according to claim 1, characterized in that: the communication module (107) of the swarm control system (109) is used for information transmission, including sending information to multiple robotic bee systems Publish task information, and can also receive data from multiple robotic bee systems (such as robotic bees returning images, task completion return reports), and can also issue synchronization information and time signals to multiple robotic bee systems. 9. A method and system for controlling a cluster of robotic bees according to claim 1, characterized in that: the synchronization module (108) of the cluster control system (109) is a standard time signal for regulating the entire cluster of robotic honeybees Time, to ensure that different robot bees can unify their own time standards when receiving tasks, and receive the synchronization success or failure information sent back by robot bees. 10. The cluster control method and system according to claim 1, characterized in that: the collaborative controllers (101) distributed in each machine bee system (100) are networked to form a distributed computing network to complete the decomposition calculation of tasks And the behavior control of the robot bees, and then control the entire group; the user only needs to assign a task once, after the task is assigned, there is no need for mandatory central controller and user intervention during the entire task execution process; the robot bee system (100) With the characteristics of autonomy, they are highly connected to each other and perceive each other. The failure of a certain robot bee will not affect the smooth completion of the entire task.