技术领域technical field
本发明涉及智能机器人领域，特别是涉及分体式机器人及其组合、分离方法。The invention relates to the field of intelligent robots, in particular to split robots and methods for combining and separating them.
背景技术Background technique
随着科技的发展，机器人被广泛应用于社会的各个领域，尤其被应用在危化品探测领域。由于危化品事故往往伴随着火灾、爆炸及各类危险化学品泄漏，为了确保救援人员安全并尽可能多方面地获取事故现场监测信息进而给事故救援决策提供支持，因此，机器人成为对事故现场进行探测的最为有效的手段。With the development of science and technology, robots are widely used in various fields of society, especially in the field of hazardous chemical detection. Since hazardous chemical accidents are often accompanied by fire, explosion, and leakage of various hazardous chemicals, in order to ensure the safety of rescuers and obtain accident site monitoring information from as many aspects as possible to provide support for accident rescue decisions, robots have become a The most effective means of detection.
事故现场不但地形复杂，往往监测任务也难以明确，这就要求移动机器人不仅要具有良好的通过性，还能在不可预知的条件下执行复杂的监测任务，获取事故现场尽可能多样化的监测信息。然而，传统机器人受自身结构和功能的限制，只能执行特定的监测任务，不能根据任务需求灵活的进行配置。Not only the terrain of the accident site is complex, but also the monitoring tasks are often difficult to be clear. This requires mobile robots not only to have good passability, but also to perform complex monitoring tasks under unpredictable conditions, and to obtain as diverse monitoring information as possible from the accident site. . However, limited by its own structure and functions, traditional robots can only perform specific monitoring tasks, and cannot be flexibly configured according to task requirements.
发明内容Contents of the invention
基于此，有必要针对传统机器人不能根据任务需求灵活进行配置的问题，提供一种分体式机器人及其组合、分离方法。Based on this, it is necessary to provide a split robot and its combination and separation methods for the problem that traditional robots cannot be flexibly configured according to task requirements.
所述机器人包括多个分体单元；The robot includes a plurality of split units;
所述分体单元均包括连接模块；Each of the split units includes a connection module;
每个连接模块均设置地址编码，不同的连接模块具有不同的地址编码；Each connection module is set with an address code, and different connection modules have different address codes;
所述连接模块用于根据地址编码进行配对连接，使所述分体单元相互之间进行连接。The connection module is used for pairing connection according to the address code, so that the split units are connected with each other.
上述分体式机器人，针对不同的任务需求灵活的增加或减少的分体单元，从而实现灵活的配置机器人，使机器人可以更方便地执行不同的探测任务。The above-mentioned split robot can flexibly add or reduce split units according to different task requirements, so as to realize flexible configuration of the robot, so that the robot can more conveniently perform different detection tasks.
作为一种实施例，其中，所述连接模块包括接入模块和被接入模块；As an embodiment, wherein, the connection module includes an access module and a connected module;
所述接入模块用于在所述配对连接时根据所述被接入模块的地址编码与所述被接入模块进行配对连接；The access module is configured to perform pairing connection with the accessed module according to the address code of the accessed module during the paired connection;
所述被接入模块用于在所述配对连接时等待所述接入模块进行配对连接；The connected module is used to wait for the access module to perform a pairing connection during the pairing connection;
所述被接入模块用于在所述配对连接时等待所述接入模块进行配对连接。The connected module is configured to wait for the access module to perform a pairing connection during the pairing connection.
作为一种实施例，其中，所述分体单元包括基础单元与任务单元；As an embodiment, wherein, the split unit includes a basic unit and a task unit;
所述基础单元包括工控机，所述工控机用于控制所述基础单元和各个所述任务单元。The basic unit includes an industrial computer, and the industrial computer is used to control the basic unit and each of the task units.
作为一种实施例，其中，所述任务单元包括监测设备组；As an embodiment, wherein, the task unit includes a monitoring equipment group;
不同的所述监测设备组配置不同的监测设备；所述监测设备用于执行监测任务。Different monitoring equipment groups are configured with different monitoring equipment; the monitoring equipment is used to perform monitoring tasks.
作为一种实施例，其中，所述接入模块包括基础接入模块以及任务接入模块；所述被接入模块包括基础被接入模块以及任务被接入模块；As an embodiment, wherein, the access module includes a basic access module and a task access module; the accessed module includes a basic accessed module and a task accessed module;
所述基础接入模块及所述基础被接入模块分别设置于所述基础单元的两端；The basic access module and the basic connected module are respectively arranged at both ends of the basic unit;
所述任务接入模块及所述任务被接入模块分别设置于所述任务单元的两端。The task access module and the task access module are respectively arranged at two ends of the task unit.
作为一种实施例，其中，所述连接模块包括连接模块主体以及定位灯，用于所述连接模块配对连接时进行定位指引；As an embodiment, wherein, the connection module includes a connection module main body and a positioning light, which are used for positioning guidance when the connection module is paired and connected;
所述连接模块主体之间采用吸合的方式连接。The main bodies of the connecting modules are connected by suction.
作为一种实施例，其中，所述分体单元还包括三维舵机，用于为所述分体单元之间提供柔性连接。As an embodiment, wherein, the split unit further includes a three-dimensional steering gear for providing flexible connection between the split units.
一种分体式机器人的组合方法，所述方法应用于上述任一项实施例所述的机器人，其中，所述方法包括：A method for combining a split robot, the method is applied to the robot described in any one of the above embodiments, wherein the method includes:
获取被接入模块的地址编码；Obtain the address code of the connected module;
根据所述被接入模块的地址编码获取对应的被接入模块的位置信息；Obtaining the location information of the corresponding connected module according to the address code of the connected module;
根据所述位置信息，将所述接入模块与所述被接入模块的配对连接。According to the position information, the pairing connection between the access module and the access module is performed.
作为一种实施例，其中，所述连接模块包括定位灯，用于所述连接模块配对连接时进行定位指引；As an embodiment, wherein, the connection module includes a positioning light, which is used for positioning guidance when the connection module is paired and connected;
所述根据位置信息与所述被接入模块配对连接的步骤包括：The step of pairing and connecting with the connected module according to the location information includes:
获取所述被接入模块的定位灯的图像信息；Acquiring the image information of the positioning light of the connected module;
根据所述图像信息调整所述接入模块的位置，直到所述接入模块与被接入模块完成配对连接。Adjusting the position of the access module according to the image information until the access module completes the pairing connection with the inserted module.
作为一种实施例，其中，所述分体单元包括基础单元以及任务单元；所述基础单元包括工控机；As an embodiment, wherein, the split unit includes a base unit and a task unit; the base unit includes an industrial computer;
所述根据所述位置信息与所述被接入模块的配对连接的步骤之后，所述方法还包括：After the step of pairing and connecting with the connected module according to the location information, the method further includes:
判断所述配对连接是否成功；judging whether the pairing connection is successful;
若是，则向所述工控机发送信号，并接收所述工控机反馈的分布式控制指令。If yes, send a signal to the industrial computer, and receive a distributed control instruction fed back by the industrial computer.
一种分体式机器人的分离方法，所述方法应用于上述任一项实施例所述的机器人，其特征在于，所述任务单元包括待分离任务单元；A separation method for a split robot, the method is applied to the robot described in any one of the above embodiments, wherein the task unit includes a task unit to be separated;
所述方法包括：The methods include:
所述待分离任务单元获取历史路径信息；The task unit to be separated acquires historical path information;
所述待分离任务单元判断所述是否完成分离；The to-be-separated task unit judges whether the separation is completed;
若是，则所述待分离任务单元根据所述历史路径信息返回。If yes, the to-be-separated task unit returns according to the historical path information.
附图说明Description of drawings
图1为其中一个实施方式提供的分体式机器人的结构示意图；Fig. 1 is a schematic structural diagram of a split robot provided by one of the embodiments;
图2为其中另一个实施方式提供的分体式机器人的结构示意图；Fig. 2 is a structural schematic diagram of a split robot provided in another embodiment;
图3a-图3c为其中一个实施方式提供的分体式机器人的连接示意图；Figures 3a-3c are schematic diagrams of the connection of the split robot provided by one of the embodiments;
图4为其中一个实施方式提供的连接模块的结构示意图；Fig. 4 is a schematic structural diagram of a connection module provided by one of the embodiments;
图5为其中一个实施方式提供的基础单元的结构示意图；Fig. 5 is a schematic structural diagram of a basic unit provided by one of the embodiments;
图6为其中一个实施方式提供的任务单元的结构示意图；Fig. 6 is a schematic structural diagram of a task unit provided by one of the embodiments;
图7为其中一个实施方式提供的分体式机器人组合方法的流程图；Fig. 7 is a flow chart of the split robot combination method provided by one of the embodiments;
图8为其中一个实施方式提供的分体式机器人分离方法的流程图；Fig. 8 is a flow chart of a split robot separation method provided by one of the embodiments;
图9为其中一个实施方式提供的分体式机器人的应用场景图。Fig. 9 is an application scene diagram of a split robot provided by one of the embodiments.
具体实施方式detailed description
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
请参阅图1，图1为其中一个实施方式提供的分体式机器人的结构示意图。一种分体式机器人，其中，所述机器人包括分体单元110以及分体单元120。所述分体单元110包括连接模块111以及连接模块112。所述分体单元120包括连接模块121以及连接模块112。每个连接模块均设置地址编码，例如，连接模块111的地址编码可以设为01，类似的，连接模块112的地址编码可以设为02，连接模块121的地址编码可以设为03，连接模块122的地址编码可以设为04。可以理解，地址编码可以根据具体需求进行设置，只需要保证不同的连接模块设置不同的地址编码即可。连接模块根据所述地址编码进行配对连接，所述配对连接是指连接模块根据相互的地址编码先进行配对再进行连接的连接方式。可以理解，分体单元110可以只包括一个连接模块也可以包括多个连接模块，同样地，分体单元120可以只包括一个连接模块，也可以包括多个连接模块。Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of a split robot provided in one embodiment. A split robot, wherein the robot includes a split unit 110 and a split unit 120 . The split unit 110 includes a connection module 111 and a connection module 112 . The split unit 120 includes a connection module 121 and a connection module 112 . Each connection module is provided with an address code, for example, the address code of the connection module 111 can be set to 01, similarly, the address code of the connection module 112 can be set to 02, the address code of the connection module 121 can be set to 03, and the connection module 122 can be set to 03. The address code can be set to 04. It can be understood that the address codes can be set according to specific requirements, and it is only necessary to ensure that different connection modules are set with different address codes. The connection modules perform pairing connection according to the address codes, and the pairing connection refers to a connection mode in which the connection modules first perform pairing and then connect according to the mutual address codes. It can be understood that the split unit 110 may include only one connection module or multiple connection modules, and similarly, the split unit 120 may include only one connection module or multiple connection modules.
进一步地，每个连接模块都具备一个控制接口，可以通过所述控制接口对各个连接模块进行手动或远程操控。Further, each connection module has a control interface through which each connection module can be controlled manually or remotely.
进一步地，每个分体单元均配备导航设备，具备自主行动能力，可独立自主行进。Further, each split unit is equipped with navigation equipment, capable of autonomous action, and can travel independently.
进一步地，每个分体单元采用相同的防爆型履带底盘，所搭载的设备也均为本征防爆，履带采用碳纤维骨架，外覆盖凯夫拉纤维。Furthermore, each split unit adopts the same explosion-proof crawler chassis, and the equipped equipment is also intrinsically explosion-proof. The crawler adopts a carbon fiber skeleton and is covered with Kevlar fiber.
上述分体式机器人，针对不同的任务需求灵活的增加或减少的分体单元，从而实现灵活的配置机器人，使机器人可以执行不同的探测任务。The above-mentioned split robot can flexibly increase or decrease split units according to different task requirements, so as to realize flexible configuration of the robot, so that the robot can perform different detection tasks.
请参阅图2，图2为其中一个实施方式提供的机器人的结构示意图。所述连接模块包括接入模块211和被接入模块212；所述接入模块211用于在所述配对连接时根据所述被接入模块212的地址编码与所述被接入模块212进行配对连接；所述被接入模块212用于在所述配对连接时等待所述接入模块211进行配对连接。Please refer to FIG. 2 , which is a schematic structural diagram of a robot provided in one embodiment. The connection module includes an access module 211 and an access module 212; the access module 211 is configured to communicate with the access module 212 according to the address code of the access module 212 during the pairing connection. Pairing connection: the accessed module 212 is used to wait for the accessing module 211 to perform a pairing connection during the pairing connection.
在其中一个实施方式提供的分体式机器人中，所述分体单元包括基础单元与任务单元；所述基础单元包括工控机，所述工控机用于控制所述基础单元和各个所述任务单元。In the split robot provided in one embodiment, the split unit includes a base unit and a task unit; the base unit includes an industrial computer, and the industrial computer is used to control the base unit and each of the task units.
具体地，所述基础单元用于对机器人的整体进行控制，是整个机器人的控制中枢。任务单元用于执行不同的监测任务，可以根据现场情况，给机器人搭载不同的任务单元，使机器人适应各种监测场景。Specifically, the basic unit is used to control the whole robot, and is the control center of the whole robot. The task unit is used to perform different monitoring tasks, and the robot can be equipped with different task units according to the site conditions, so that the robot can adapt to various monitoring scenarios.
具体地，工控机是整个分体式机器人的控制中心，用于机器人整体控制信息的生成、处理和分发，对各个单元的运行进行分布式控制，还用于监测信息的接收、处理和存储。协调各单元的速度和姿态，对连接模块的三维偏转角度进行精确控制，实现机器人整体的运行状态稳定、单元之间三维偏转灵活可靠，并能灵活地通过复杂的地形，执行相应的监测任务。Specifically, the industrial computer is the control center of the entire split robot. It is used for the generation, processing and distribution of the overall control information of the robot, for distributed control of the operation of each unit, and for the reception, processing and storage of monitoring information. Coordinate the speed and attitude of each unit, and precisely control the three-dimensional deflection angle of the connecting module, so as to realize the stable operation state of the robot as a whole, flexible and reliable three-dimensional deflection between units, and the ability to flexibly pass through complex terrain and perform corresponding monitoring tasks.
请一并参阅如图3a至图3c所示，本实施方式提供的分体式机器人可以包括两个任务单元：任务单元一320和任务单元二230。所述基础单元310和所述任务单元一320以及任务单元二330均搭载有连接模块，其中，基础单元310、任务单元一320及任务单元二330都可以搭载两个连接模块。每个连接模块均设置一个具有唯一标识的地址编码(地址编码01-地址编码06)，用于标识不同的连接模块。即基础单元310包括地址编码为01的连接模块311以及地址编码为02的连接模块312，类似的任务单元一320包括地址编码为03的连接模块321以及地址编码为04的连接模块322，任务单元二330包括地址编码为05的连接模块331以及地址为06的连接模块332。Please also refer to FIG. 3 a to FIG. 3 c . As shown in FIG. 3 a to FIG. 3 c , the split robot provided in this embodiment may include two task units: task unit one 320 and task unit two 230 . The base unit 310 , the task unit one 320 and the task unit two 330 are all equipped with connection modules, wherein the base unit 310 , the task unit one 320 and the task unit two 330 can all be equipped with two connection modules. Each connection module is provided with an address code (address code 01-address code 06) with a unique identification, which is used to identify different connection modules. That is, the basic unit 310 includes a connection module 311 with an address code of 01 and a connection module 312 with an address code of 02, and a similar task unit 1 320 includes a connection module 321 with an address code of 03 and a connection module 322 with an address code of 04. Two 330 includes a connection module 331 whose address code is 05 and a connection module 332 whose address is 06.
请一并参阅图3b，图3b是一种实施方式提供的基础单元与任务单元一连接后的示意图。Please also refer to FIG. 3b . FIG. 3b is a schematic diagram of a connection between the basic unit and the task unit provided in an embodiment.
具体地，所述基础单元的地址编码为02的连接模块312与任务单元一中地址编码为03的连接模块321配对连接。即基础单元与任务单元一连接在一起。Specifically, the connection module 312 with the address code 02 of the basic unit is paired with the connection module 321 with the address code 03 in the task unit one. That is, the basic unit and the task unit one are connected together.
请一并参阅图3c，图3c是一种实施方式提供的任务单元一与任务单元二连接后的示意图。Please also refer to FIG. 3c. FIG. 3c is a schematic diagram of a task unit 1 connected to a task unit 2 provided in an implementation manner.
具体地，所述任务单元的地址编码为04的连接模块322与任务单元二中地址编码为05的连接模块331配对连接。即基础单元与任务单元一、任务单元二串联在一起。Specifically, the connection module 322 with the address code 04 of the task unit is paired with the connection module 331 with the address code 05 in the task unit two. That is, the basic unit is connected in series with task unit 1 and task unit 2.
作为其中一种实施方式提供的分体式机器人，所述连接模块包括连接模块主体以及定位灯，用于所述连接配对连接时进行定位指引；所述连接器模块主体之间采用吸合的方式连接。As a split robot provided in one of the embodiments, the connection module includes a connection module main body and a positioning light, which are used for positioning guidance when the connection is paired and connected; the connector module main bodies are connected by suction .
请一并参阅图4，图4是一种实施方式提供的连接模块的示意图。所述连接模块在连接模块主体410两边各设置一个定位灯420，所述定位灯420可以采用包括LTE灯在内的任意光源。为了描述方便，将分体机器人组合过程中主动发起连接的定义为接入单元，将被动等待接入的单元定义为目标单元。在相互连接时，接入单元通过视频采集设备采集视觉图像，当采集到目的单元的定位灯420光后，处理器采用图像处理方法将目标单元的目标连接器精确定位，进一步增加连接的准确性。当接入单元与目标单元距离足够近时，例如相对距离小于0.5cm、轴向距离小于0.2cm时，所述接入单元的连接器与所述目标单元的连接器相互吸合，从而完成配对连接。应当理解，虽然图4中所述连接器模块中定位灯420设置在连接器主体410的两侧，但在其他具体实施例中，定位灯420可以灵活设置，只要能满足在配对连接时进行定位指引的目的即可。Please refer to FIG. 4 together. FIG. 4 is a schematic diagram of a connection module provided in an implementation manner. The connection module is provided with a positioning light 420 on both sides of the connection module main body 410, and the positioning light 420 can use any light source including an LTE light. For the convenience of description, the active initiating connection during the split robot assembly process is defined as the access unit, and the passive waiting unit is defined as the target unit. When connecting to each other, the access unit collects visual images through the video acquisition equipment, and when the positioning light 420 of the target unit is collected, the processor uses image processing methods to precisely position the target connector of the target unit to further increase the accuracy of the connection . When the distance between the access unit and the target unit is close enough, for example, when the relative distance is less than 0.5 cm and the axial distance is less than 0.2 cm, the connector of the access unit and the connector of the target unit are attracted to each other, thereby completing the pairing connect. It should be understood that although the positioning lights 420 in the connector module described in FIG. 4 are arranged on both sides of the connector body 410, in other specific embodiments, the positioning lights 420 can be flexibly set, as long as it can meet the requirements for positioning during pairing connection. for guidance purposes.
上述分体式机器人，通过增加定位灯的方式，进一步提高了配对连接过程的准确性。The aforementioned split robot further improves the accuracy of the pairing and connection process by adding positioning lights.
作为其中一种实施方式提供的分体式机器人，所述分体单元还可以包括大扭矩三维舵机。As the split robot provided in one of the embodiments, the split unit may further include a high-torque three-dimensional steering gear.
具体地，所述大扭矩三维舵机具备三维主动调节能力，机器人各单元之间的连接更柔和，从而使整个机器人更加灵活，具有更好的通过能力。例如，当通过障碍物时，连接模块可纵向动作，使得机器人在纵向具有主动的柔性，同时，由于链接模块能主动动作，可将前部单元抬起，因而机器人能通过较高的障碍物，另外，当转弯时，链接模块以特定的角度横向动作，使得机器人整体上看围绕一定半径的圆运动，实现转弯。Specifically, the high-torque three-dimensional steering gear has three-dimensional active adjustment capabilities, and the connection between the various units of the robot is softer, so that the entire robot is more flexible and has better passing capabilities. For example, when passing through obstacles, the link module can move longitudinally, so that the robot has active flexibility in the longitudinal direction. At the same time, because the link module can move actively, the front unit can be lifted, so the robot can pass through higher obstacles. In addition, when turning, the link module moves laterally at a specific angle, so that the robot as a whole moves around a circle with a certain radius to achieve turning.
进一步地，连接模块的三维舵机还可以由基础单元统一控制，基础单元对各个连接模块的三维偏转角度进行精确控制。Furthermore, the three-dimensional steering gear of the connection modules can also be uniformly controlled by the base unit, and the base unit can precisely control the three-dimensional deflection angle of each connection module.
上述分体式机器人，通过增加三维舵机的方式，使得机器人整体连接更加柔性，运动更加灵活，具有更好的通过能力。The above-mentioned split robot, by adding a three-dimensional steering gear, makes the overall connection of the robot more flexible, the movement is more flexible, and it has better passing ability.
作为其中一种实施方式提供的分体式机器人，所述任务单元包括监测设备组；不同的所述监测设备组配置不同的监测设备；所述监测设备用于执行监测任务。As a split robot provided in one of the implementation manners, the task unit includes monitoring equipment groups; different monitoring equipment groups are equipped with different monitoring equipment; and the monitoring equipment is used to perform monitoring tasks.
具体地，所述监测设备组按各个任务单元需要执行的监测任务进行配置。既可以预先配置，也在事故现场临时配置。所述监测设备组可以选择不同的监测设备来实现不同的监测任务。所述监测设备的种类包括并不限于：接触式气体传感器阵列(含毒害气体、可燃气体及惰性气体等多类气体传感器)、温湿度传感器、烟雾传感器、超声波风速风向仪、线式和/或面式红外气体探测仪、视觉传感器、激光雷达、全景相机、毫米波雷达、WIFI通信设备、3G和/或4G通信设备等。Specifically, the monitoring equipment group is configured according to the monitoring tasks that each task unit needs to perform. It can be pre-configured or temporarily configured at the accident site. The monitoring equipment group can select different monitoring equipment to realize different monitoring tasks. The types of monitoring equipment include but are not limited to: contact gas sensor arrays (including toxic gas, combustible gas and inert gas and other types of gas sensors), temperature and humidity sensors, smoke sensors, ultrasonic anemometers, line and/or Surface infrared gas detector, visual sensor, laser radar, panoramic camera, millimeter wave radar, WIFI communication equipment, 3G and/or 4G communication equipment, etc.
上述分体式机器人，通过不同监测设备的灵活组合，可以进一步提高分体式机器人的灵活性，使其适应各种监测任务。The above-mentioned split robot, through the flexible combination of different monitoring equipment, can further improve the flexibility of the split robot, making it suitable for various monitoring tasks.
作为其中一种实施方式提供的分体式机器人，所述基础单元包括工控机，所述工控机用于控制所述基础单元和各个所述任务单元。As a split robot provided in one of the implementation manners, the basic unit includes an industrial computer, and the industrial computer is used to control the basic unit and each of the task units.
具体地，工控机是整个分体式机器人的控制中心，用于机器人整体控制信息的生成、处理和分发，对各个单元的运行进行分布式控制，还用于监测信息的接收、处理和存储。协调各单元的速度和姿态，对连接模块的三维偏转角度进行精确控制，实现机器人整体的运行状态稳定、单元之间三维偏转灵活可靠，并能灵活地通过复杂的地形，执行相应的监测任务。Specifically, the industrial computer is the control center of the entire split robot. It is used for the generation, processing and distribution of the overall control information of the robot, for distributed control of the operation of each unit, and for the reception, processing and storage of monitoring information. Coordinate the speed and attitude of each unit, and precisely control the three-dimensional deflection angle of the connecting module, so as to realize the stable operation state of the robot as a whole, flexible and reliable three-dimensional deflection between units, and the ability to flexibly pass through complex terrain and perform corresponding monitoring tasks.
上述分体式机器人，通过工控机进行分布式控制的方式，使得机器人运动更加灵活、稳定，具有更好的通过能力。The above-mentioned split robot adopts the distributed control mode of the industrial computer, which makes the movement of the robot more flexible and stable, and has better passing ability.
作为其中一种实施方式提供的分体式机器人，所述基础单元和各个所述任务单元均包括通信设备，所述通信设备用于基础单元与每个任务单元之间以及各个任务单元之间的组网和通信。In the split robot provided as one of the implementations, the base unit and each of the task units include communication equipment, and the communication equipment is used for communication between the base unit and each task unit and between each task unit. Network and communication.
作为其中一种实施方式提供的分体式机器人，所述基础单元还包括工控机，微处理器、云台摄像头、GPS定位设备、微型惯性测量单元、激光雷达、红外避障设备、通信设备和电源系统。As a split robot provided in one of the embodiments, the basic unit also includes an industrial computer, a microprocessor, a pan-tilt camera, a GPS positioning device, a miniature inertial measurement unit, a laser radar, an infrared obstacle avoidance device, a communication device and a power supply system.
请一并参阅图5，图5为其中一种实施方式提供的基础单元的结构示意图。Please also refer to FIG. 5 , which is a schematic structural diagram of a basic unit provided in one of the implementation manners.
具体地，所述微处理器用于基础单元的控制，接收和执行工控机生成的控制指令，并将基础单元运行状态反馈至控制中枢，实现基础单元的闭环控制。所述云台摄像头用于获取机器人周边的实时视频信息，可支持-40°～+90°俯仰及360°旋转，并且具备红外功能，装载在一个可升降云台上，当机器人通过孔洞时自动收至底盘壳体内。所述GPS定位设备用于基础单元的定位。所述微型惯性测量单元用于获取基础单元机体的姿态信息以及海拔高度信息。所述激光雷达用于获取机器人前方大范围内的障碍物距离信息，主要服务于机器人自主导航。所述红外避障设备分布在基础单元前部及后部，用于在基础单元自主行进时的避障。所述通信设备用于基础单元与各任务单元之间的组网通信，并实现机器人与指挥中心之间控制信息、状态信息及监测信息的交互。所述电源系统给基础单元自身运行和所搭载设备供电。Specifically, the microprocessor is used for the control of the basic unit, receives and executes the control instructions generated by the industrial computer, and feeds back the operating status of the basic unit to the control center to realize the closed-loop control of the basic unit. The pan-tilt camera is used to obtain real-time video information around the robot, which can support -40°～+90° pitch and 360° rotation, and has an infrared function. Received into the chassis shell. The GPS positioning device is used for positioning of the base unit. The miniature inertial measurement unit is used to obtain attitude information and altitude information of the basic unit body. The laser radar is used to obtain obstacle distance information in a large area in front of the robot, and mainly serves for the autonomous navigation of the robot. The infrared obstacle avoidance equipment is distributed at the front and rear of the base unit, and is used for obstacle avoidance when the base unit travels autonomously. The communication device is used for network communication between the basic unit and each task unit, and realizes the interaction of control information, status information and monitoring information between the robot and the command center. The power supply system provides power for the operation of the base unit itself and the equipment it carries.
作为其中一种实施方式提供的分体式机器人，所述任务单元还包括微处理器、广角摄像头、红外避障设备、GPS定位设备、微型惯性测量单元、通信设备、电源系统以及相应的监测设备组。As a split robot provided in one of the embodiments, the task unit also includes a microprocessor, a wide-angle camera, an infrared obstacle avoidance device, a GPS positioning device, a miniature inertial measurement unit, a communication device, a power supply system and a corresponding monitoring device group .
请一并参阅图6，图6为其中一种具体实施方式提供的任务单元的结构示意图。Please also refer to FIG. 6 . FIG. 6 is a schematic structural diagram of a task unit provided in one specific implementation manner.
具体地，所述微处理器用于该任务单元的运动控制和任务单元设备信息的处理。所述广角摄像头、所述红外避障设备和所述GPS用于任务单元独立行进时的自主导航、避障和定位。所述微型惯性测量单元用于获取任务单元自身的姿态信息。所述通信设备用于任务单元之间以及任务单元与指挥控制中心的信息交互。所述监测设备组用于执行监测任务。Specifically, the microprocessor is used for motion control of the task unit and processing of equipment information of the task unit. The wide-angle camera, the infrared obstacle avoidance device and the GPS are used for autonomous navigation, obstacle avoidance and positioning when the task unit travels independently. The miniature inertial measurement unit is used to acquire attitude information of the task unit itself. The communication device is used for information exchange between task units and between task units and the command and control center. The monitoring equipment group is used to perform monitoring tasks.
请参阅图7，图7为其中一种具体实施方式提供的机器人组合方法的流程图。Please refer to FIG. 7 . FIG. 7 is a flow chart of a robot combination method provided in one specific implementation manner.
步骤S702，获取被接入模块的地址编码。Step S702, acquiring the address code of the connected module.
具体地，可以通过获取用户输入信息的方式或者远程操控的方式来得到被接入模块的地址编码。Specifically, the address code of the connected module can be obtained by acquiring user input information or remote control.
具体地，在图1所示的分体机器人结构示意图中，根据任务需求，决定将分体单元120加配到分体单元110上组成一个分体机器人，在准备执行任务之前，需要将分体单元120组合到分体单元110上，此时，可以将分体单元110中的连接模块112作为被接入模块，此时，可以通过获取用户输入信息的方式获取连接模块112的地址编码信息。Specifically, in the structural diagram of the split robot shown in Figure 1, according to the task requirements, it is decided to add the split unit 120 to the split unit 110 to form a split robot. 120 is combined on the split unit 110. At this time, the connection module 112 in the split unit 110 can be used as the connected module. At this time, the address code information of the connection module 112 can be obtained by obtaining user input information.
具体地，在图3b所示的分体机器人结构示意图中，由基础单元310与任务单元一320组合而成的分体机器人在执行任务的过程中，遇到突发情况，需要加入任务单元二330，此时，可以将任务单元一320中的连接模块322(地址编码04)作为被接入模块，此时，可以通过远程操控的方式，获取连接模块322(地址编码04)的地址编码信息。Specifically, in the schematic structural diagram of the split robot shown in Figure 3b, the split robot composed of the basic unit 310 and the task unit 1 320 needs to join the task unit 2 in case of an emergency during the execution of the task. 330. At this time, the connection module 322 (address code 04) in the task unit 1 320 can be used as the connected module. At this time, the address code information of the connection module 322 (address code 04) can be obtained through remote control .
步骤S704，根据所述被接入模块的地址编码获取对应的被接入模块的位置信息。Step S704, acquiring the location information of the corresponding connected module according to the address code of the connected module.
具体地，根据所述被接入模块的地址编码获取对应的被接入模块的位置信息。进一步地，所述位置信息可以是GPS位置信息。Specifically, the location information of the corresponding connected module is obtained according to the address code of the connected module. Further, the location information may be GPS location information.
步骤S706，根据所述位置信息，将所述接入模块与所述被接入模块的配对连接。Step S706, pairing and connecting the access module and the access module according to the location information.
具体地，根据步骤704获取的被接入模块的位置信息，向被接入模块靠近，直到完成与所述被接入模块的配对连接。Specifically, approach the connected module according to the location information of the connected module obtained in step 704 until the pairing connection with the connected module is completed.
上述分体式机器人的组合方法，使得所述机器人在执行不同的监测任务时可以配备不同的分体单元，保证了可执行监测任务的多样性。The combination method of the above split robot enables the robot to be equipped with different split units when performing different monitoring tasks, thus ensuring the diversity of the monitoring tasks that can be performed.
在其中一个具体实施例提供的组合方法中，步骤S706根据所述位置信息与所述被接入模块的配对连接还可以包括以下两个子步骤：In the combination method provided in one of the specific embodiments, step S706 may further include the following two sub-steps for pairing connection with the connected module according to the location information:
获取所述被接入模块的定位灯的图像信息；根据所述图像信息调整所述接入模块的位置，直到所述接入模块与被接入模块完成配对连接。Acquiring the image information of the positioning light of the connected module; adjusting the position of the connected module according to the image information until the paired connection between the connected module and the connected module is completed.
具体地，所述连接模块还包括定位灯，定位灯用于接入模块与被接入模块进行连接时进行定位指引。Specifically, the connection module further includes a positioning light, which is used for positioning guidance when the access module is connected with the connected module.
在一个具体实施例中，在图3b所示的分体机器人结构示意图中，任务单元二330要加配到任务单元一320的后端，即连接模块322(地址编码04)为被接入模块，连接模块331(地址编码05)为接入模块，任务单元一320的被接入模块322(地址编码04)还包括定位灯，此时，任务单元二330在行进至能够捕获任务单元一320的LED灯光后，任务单元二330中的微处理器基于三角定位原理采用图像处理的方法，对被接入模块322精确定位，并采用视觉导航方式逐步向任务单元一320靠近，当两个单元的相对距离小于第一阈值，轴向偏差小于第二阈值时，连接模块322与连接模块331自动吸合，连接完成。进一步地，所述第一阈值可以为0.5厘米，所述第二阈值可以为0.2厘米。In a specific embodiment, in the schematic structural diagram of the split robot shown in Figure 3b, the task unit 2 330 is added to the back end of the task unit 1 320, that is, the connection module 322 (address code 04) is the connected module, The connection module 331 (address code 05) is an access module, and the connected module 322 (address code 04) of the task unit one 320 also includes a positioning light. After the LED lighting, the microprocessor in the task unit 2 330 adopts the method of image processing based on the principle of triangulation, accurately locates the connected module 322, and uses the visual navigation method to gradually approach the task unit 1 320, when the two units When the relative distance is less than the first threshold and the axial deviation is less than the second threshold, the connection module 322 and the connection module 331 are automatically engaged, and the connection is completed. Further, the first threshold may be 0.5 cm, and the second threshold may be 0.2 cm.
请继续参阅图7，在其中一种具体实施方式提供的组合方法中，在步骤S706根据所述位置信息与所述被接入模块的配对连接的步骤之后还可以包括：Please continue to refer to FIG. 7 , in the combination method provided in one of the specific implementation manners, after the step of pairing and connecting with the connected module according to the location information in step S706, it may further include:
S708，判断所述配对连接是否成功；S708, judging whether the pairing connection is successful;
具体地，判断接入模块是否成功连接至被接入模块。Specifically, it is judged whether the connecting module is successfully connected to the connected module.
S710，若是，则向所述工控机发送信号，用于请求工控机进行分布式控制；S710, if yes, send a signal to the industrial computer to request the industrial computer to perform distributed control;
具体地，基础单元包括工控机，工控机用于对所有任务单元进行控制。当连接模块配对连接成功之后，微处理器向工控机发送连接成功信号，以便工控机对新接入的任务单元进行控制。进一步地，微处理器还可以同时向指挥控制中心发送连接成功信号，以供指挥控制中心做下一步指示。Specifically, the basic unit includes an industrial computer, and the industrial computer is used to control all task units. After the connection module is paired and connected successfully, the microprocessor sends a connection success signal to the industrial computer, so that the industrial computer can control the newly connected task unit. Further, the microprocessor can also send a connection success signal to the command and control center at the same time, so that the command and control center can give instructions for the next step.
请参阅图8，图8为一个实施方式提供的分离方法的流程图。其中，所述任务单元包括待分离任务单元；Please refer to FIG. 8 . FIG. 8 is a flowchart of a separation method provided by an embodiment. Wherein, the task unit includes a task unit to be separated;
所述方法包括：The methods include:
S802，所述待分离任务单元获取历史路径信息。S802. The to-be-separated task unit acquires historical path information.
具体地，具体地，可以根据具体任务需求，将不再需要的任务单元作为待分离任务单元从所述分体式机器人中分离。为了实现智能化返回，可以将待分离任务单元的历史路径存储在设备中，并在分体时查找已经存储的待分离任务单元的历史路径信息，所述待分离任务单元根据历史路径信息自主返回。Specifically, according to specific task requirements, task units that are no longer needed can be separated from the split robot as task units to be separated. In order to achieve intelligent return, the historical path of the task unit to be separated can be stored in the device, and the stored historical path information of the task unit to be separated can be searched when the body is separated, and the task unit to be separated can return autonomously according to the historical path information .
具体地，在图3c中所示的分体式机器人中，当不再需要任务单元二330时，可以将任务单元二330作为待分离任务单元，任务单元二330获取历史路径信息。可以理解，在所述历史路径信息可以直接存储在任务单元二330中，也可以存储在基础单元310中，还可以存储在指挥中心，当待分离任务单元准备分离时，向存储有历史路径信息的模块发出获取请求，相应模块接收到请求信号后，将所述历史路径信息发送给所述待分离任务单元。Specifically, in the split robot shown in FIG. 3 c , when the task unit 2 330 is no longer needed, the task unit 2 330 can be used as the task unit to be separated, and the task unit 2 330 obtains historical path information. It can be understood that the historical path information can be directly stored in the task unit 2 330, can also be stored in the basic unit 310, and can also be stored in the command center. When the task unit to be separated is ready to separate, the historical path information is stored in The module of the module sends an acquisition request, and the corresponding module sends the historical path information to the task unit to be separated after receiving the request signal.
S804，判断所述待分离任务单元是否完成分离。S804, judging whether the to-be-separated task unit has been separated.
具体地，待分离任务单元可以根据连接模块的连接状态自主判断分离是否完成，也可以根据基础单元或者指挥中心的发送的指令判断分离是否完成。Specifically, the task unit to be separated can independently judge whether the separation is completed according to the connection state of the connection module, or judge whether the separation is completed according to the instruction sent by the basic unit or the command center.
进一步地，根据待分离任务单元在分体式机器人的位置不同，可以选择不同的分离策略进行分离。如图3c所示的分体式机器人，分体式机器人串行连接，任务单元二330处于最后一节，此时任务单元二330即为尾部任务单元。即可按照尾部分离策略将任务单元二330从分体式机器人分离。所述尾部分离策略可以是指当判断待分离任务单元是尾部单元时，直接将待分离任务单元从分体式机器人中分离。例如，在采用吸合式连接的连接模块中，可以通过使待分离任务单元的连接模块与其连接的任务单元的连接模块不再彼此吸合的方式，解除两个任务单元的连接。待连接解除后，待分体单元可以沿中心轴逆时针旋转180度，然后自行按照历史路径信息撤回。可以理解，尾部分离策略可以根据分体式机器人的不同结构以及具体任务需求自行配置。Furthermore, according to the different positions of the task units to be separated in the split robot, different separation strategies can be selected for separation. As shown in FIG. 3 c , the split robot is connected in series, and the task unit 2 330 is in the last section. At this time, the task unit 2 330 is the tail task unit. The task unit 2 330 can be separated from the split robot according to the tail separation strategy. The tail separation strategy may refer to directly separating the task unit to be separated from the split robot when it is judged that the task unit to be separated is a tail unit. For example, in a connection module that adopts a snap-in connection, the connection of the two task units can be released by making the connection module of the task unit to be separated and the connection module of the task unit connected to it no longer attract each other. After the connection is released, the unit to be split can be rotated 180 degrees counterclockwise along the central axis, and then retracted by itself according to the historical path information. It can be understood that the tail separation strategy can be configured according to different structures of split robots and specific task requirements.
同样地，当待分离任务单元不是尾部单元时，如图3所示的分体式机器人，任务单元一320处于基础单元310与任务单元二330的中间，因此，判断不是尾部任务单元，可以按照中间分离策略将所述分离任务单元分离。所述中间分体策略可以是指在待分离任务单元分离后，还需要判断所述待分离任务单元是否已经移动至安全位置，然后在通知基础单元，由基础单元发出指令再将剩余部分进行组合的策略。例如，在采用吸合式连接的连接模块中，可以通过使待分离任务单元的连接模块与其连接的任务单元的连接模块不再彼此吸合的方式，解除待分离任务单元与前后两个单元的连接。待连接解除后，待分体单元可以沿中心轴逆时针旋转180度，然后自行按照历史路径信息撤回，判断待分体单元离基础单元距离大于预设距离后，再重新执行分体式机器人的组合方法进行组合。进一步地，所述预设距离为1米。可以理解，中部分离策略可以根据分体式机器人的不同结构以及具体任务需求自行配置。Similarly, when the task unit to be separated is not the tail unit, as shown in Figure 3, the split robot, the task unit one 320 is in the middle of the basic unit 310 and the task unit two 330, therefore, it is judged not to be the tail task unit, you can follow the middle A detach policy detaches the detach task unit. The intermediate split strategy may mean that after the task unit to be separated is separated, it is necessary to judge whether the task unit to be separated has moved to a safe position, and then notify the base unit, and the base unit issues an instruction to combine the remaining parts strategy. For example, in a connection module that adopts a pull-in connection, the connection between the task unit to be separated and the front and rear units can be released by making the connection module of the task unit to be separated and the connection module of the task unit connected to it no longer attract each other . After the connection is released, the split unit can be rotated 180 degrees counterclockwise along the central axis, and then retracted according to the historical path information. After judging that the distance between the split unit and the basic unit is greater than the preset distance, re-execute the combination of the split robot method to combine. Further, the preset distance is 1 meter. It can be understood that the separation strategy of the middle part can be configured according to different structures of split robots and specific task requirements.
S806，若是，则所述待分离任务单元根据所述历史路径信息返回。S806, if yes, return the to-be-separated task unit according to the historical path information.
具体地，待分离任务单元完成分离之后，待分离任务单元可以根据所述历史路径信息自主寻址，自主导航，自动返回起点，以供再次组合使用，从而完成机器人整体的智能化分离。Specifically, after the task unit to be separated is separated, the task unit to be separated can autonomously address, navigate autonomously, and automatically return to the starting point according to the historical path information for recombination use, thereby completing the intelligent separation of the robot as a whole.
上述分体式机器人的分离方法，使得所述机器人在执行不同的监测任务时可以配备不同的分体单元，保证了可执行监测任务的多样性The separation method of the above-mentioned split robot enables the robot to be equipped with different split units when performing different monitoring tasks, ensuring the diversity of monitoring tasks that can be performed
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合具体应用场景对本发明进行进一步详细说明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific application scenarios.
请参阅图9，图9为一个具体实施方式提供的分体式机器人的应用场景图。图9中圆形区域中发生危化气体发生了泄漏事故，并发生了火灾和爆炸。由于事故现场危化气体仍在持续泄漏，现场存在二次报站的危险，且现场地形比较复杂，因此指挥中心910派出分体式机器人920进行现场气体类型和浓度进行测量，以获取事故现场烟团和气体浓度的分布图。Please refer to FIG. 9 . FIG. 9 is an application scene diagram of a split robot provided in a specific embodiment. Hazardous gas leakage accident occurred in the circular area in Fig. 9, and fire and explosion occurred. Due to the continuous leakage of hazardous gas at the accident site, there is a danger of secondary station reporting on the site, and the site terrain is relatively complicated, so the command center 910 dispatched a split robot 920 to measure the type and concentration of the gas on site to obtain the smoke at the site of the accident and gas concentration profiles.
根据上述任务需求，在监测设备库选取了不同的监测设备组预先配置了的两个任务单元。任务单元一为近程非接触式气体探测单元，包括气体传感器阵列、温湿度传感器、烟雾传感器、超声波风速仪，用于对事故现场的气体类型和浓度进行精确测量。任务单元二为远程非接触式气体探测单元，包括面试红外气体探测仪，用于获取事故现场的危化气体浓度分布图。According to the above task requirements, two pre-configured task units of different monitoring equipment groups were selected in the monitoring equipment library. Task unit one is a short-range non-contact gas detection unit, including a gas sensor array, temperature and humidity sensor, smoke sensor, and ultrasonic anemometer, which are used to accurately measure the gas type and concentration at the accident site. The second task unit is a remote non-contact gas detection unit, including an interview infrared gas detector, which is used to obtain the distribution map of the concentration of hazardous gases at the accident site.
在配置了任务单元后，将分体式机器人进行组合，可以选择将基础单元、任务单元一、任务单元二进行串行连接。即将基础单元的基础被接入模块连接任务单元一的任务接入模块，任务单元一的任务被接入模块连接任务单元二的任务接入模块。在组合完成后，基础单元的工控机识别连接的任务单元并对基础单元、任务单元一以及任务单元二进行分布式控制。组网完成后自动导航或者通过根据指挥中心的控制指令前进至事故现场执行监测任务。After the task unit is configured, the split robots can be combined, and the basic unit, task unit 1, and task unit 2 can be connected serially. That is to say, the basic connected module of the basic unit is connected to the task connected module of task unit one, and the task connected module of task unit one is connected to the task connected module of task unit two. After the combination is completed, the industrial computer of the basic unit identifies the connected task unit and performs distributed control on the basic unit, task unit 1 and task unit 2. After the networking is completed, it can automatically navigate or advance to the accident scene to perform monitoring tasks according to the control instructions of the command center.
当到达事故现场后，发现监测任务需求变更，即增加了需要获取事故现场三维地图。根据任务需求，需要增加一个新的能够执行扫描见图任务的任务单元，为了描述方便，可以将其称为任务单元三。任务单元三搭载监测设备组中的监测设备包括视觉传感器、激光雷达和全景相机。After arriving at the accident scene, it was found that the monitoring task requirements changed, that is, the need to obtain a three-dimensional map of the accident scene was added. According to the task requirements, it is necessary to add a new task unit that can perform the task of scanning and displaying pictures. For the convenience of description, it can be called task unit three. The monitoring equipment in the monitoring equipment group carried by the mission unit three includes visual sensors, lidar and panoramic cameras.
将任务单元三组合入任务单元二之后，即获取任务单元二的任务被接入模块的地址编码，并根据地址编码通过组网通讯链路获取任务单元二的任务被接入模块的GPS位置信息(即任务单元二的位置信息)，通过对比自身位置信息以及任务单元二的位置信息，自主规划路径，向任务单元二行进。安装在任务单元三前方的广角摄像头获取前方视觉图像，自主导航至能够捕获任务单元二的任务目标单元的LED灯光后，任务单元三的机载处理器基于三角定位原理采用图像处理方法对需要配对的模块进行精确定位，并采用视觉导航方式逐步向任务单元二靠近，当判断任务单元三与任务单元二的相对距离小于0.5cm,轴向偏差小于0.2cm时，连接模块电磁连接装置自动吸合，任务单元三的处理器向基础单元的工控机及指挥中心发送连接成功信号。当基础单元的工控机接收到连接成功信号后，开始对任务单元三进行控制，控制任务单元三进行三维建图任务，并可以根据任务单元三采集的信息进行建图。After the task unit 3 is combined into the task unit 2, the address code of the task connected module of the task unit 2 is obtained, and the GPS position information of the task connected module of the task unit 2 is obtained through the network communication link according to the address code (that is, the location information of the task unit 2), by comparing its own location information with the location information of the task unit 2, it independently plans a route and travels to the task unit 2. The wide-angle camera installed in front of mission unit 3 acquires the forward visual image, autonomously navigates to the LED light that can capture the mission target unit of mission unit 2, and the on-board processor of mission unit 3 uses image processing methods to match the needs based on the principle of triangulation. The modules are accurately positioned, and the visual navigation method is used to gradually approach the task unit 2. When it is judged that the relative distance between the task unit 3 and the task unit 2 is less than 0.5cm, and the axial deviation is less than 0.2cm, the electromagnetic connection device of the connecting module is automatically closed. , the processor of the task unit three sends a connection success signal to the industrial computer of the basic unit and the command center. When the industrial computer of the basic unit receives the successful connection signal, it starts to control the task unit three, and controls the task unit three to carry out the task of three-dimensional mapping, and can construct the map according to the information collected by the task unit three.
当获得完整的事故现场的三维地图后，任务单元三的任务完成，可以将任务单元三撤回。即将任务单元三与任务单元二分离。基础单元接收到指挥中心的分离指令后，开始调整组网策略，并将指令任务单元三作为待分离任务单元执行分离操作。任务单元三调取存储在处理器内部的历史路径信息，解除与任务单元二的连接，然后根据历史路径信息自主导航，返回指挥中心910处。After obtaining the complete three-dimensional map of the accident scene, the task of the task unit three is completed, and the task unit three can be withdrawn. That is to say, task unit three is separated from task unit two. After the basic unit receives the separation instruction from the command center, it starts to adjust the networking strategy, and instructs task unit three to perform the separation operation as the task unit to be separated. The task unit 3 retrieves the historical path information stored in the processor, releases the connection with the task unit 2, and then navigates autonomously according to the historical path information, and returns to the command center 910 .
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow diagram procedure or procedures and/or block diagram procedures or blocks. The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710481500.5ACN107263457A (en) | 2017-06-22 | 2017-06-22 | Split type robot and combinations thereof, separation method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201710481500.5ACN107263457A (en) | 2017-06-22 | 2017-06-22 | Split type robot and combinations thereof, separation method |
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| CN107263457Atrue CN107263457A (en) | 2017-10-20 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201710481500.5APendingCN107263457A (en) | 2017-06-22 | 2017-06-22 | Split type robot and combinations thereof, separation method |
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| RJ01 | Rejection of invention patent application after publication | Application publication date:20171020 |