Distributed multi-robot cooperative control method and system and electronic equipment

Abstract

The invention discloses a distributed multi-robot cooperative control method, a distributed multi-robot cooperative control system and electronic equipment, belongs to the technical field of robot control, provides guarantee for multi-robot motion control and signal transduction through construction of a robot motion model and a multi-robot communication topology model, and provides a multi-robot cooperative control method and system through collision risk rejection calculation. A collision risk avoiding instruction is obtained to ensure that the multiple robots do not collide with other robots or obstacles in the advancing process, then the safety degree of obstacle bypassing is improved through a safe bypassing instruction, and finally a multi-robot cooperative control instruction is generated and sent to all the robots according to a leading and following communication structure. Reasonable obstacle avoidance, exclusion of adjacent robots and communication cooperation capability of the robots are improved, safety and transportation efficiency of the robots in a transportation path are improved, collision is effectively avoided, and safe cooperative transportation of the multiple robots is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of robot control technology, and specifically relates to a distributed multi-robot collaborative control method, system and electronic equipment. Background Art

[0002] In recent years, with the deep integration of automation technology and artificial intelligence, collaborative mobile robot operations, with their significant advantages such as information sharing, increased efficiency, and strong flexibility, have become a key technology direction in industrial scenarios such as logistics and transportation, inspection and sanitation, and intelligent manufacturing. In the logistics and transportation sector in particular, the traditional manual logistics model faces multiple challenges in the inbound and outbound stages of goods: loading and unloading, handling, and route planning are highly dependent on manpower, which not only results in high labor costs, but also hinders manual operation efficiency due to factors such as fatigue and skill level, making standardized and scalable goods handling management difficult to achieve. Furthermore, manual scheduling lacks global coordination capabilities, leading to path redundancy and uneven task distribution during the goods handling process, further increasing logistics costs and reducing overall efficiency.

[0003] Consequently, a new class of mobile handling robots has emerged on the market in recent years. These robots integrate multiple sensing devices, such as lidar, visual sensors, and inertial navigation, and employ SLAM (Simultaneous Localization and Mapping) technology to perceive the environment in real time and build high-precision maps. After receiving instructions from higher-level systems, the robots can autonomously complete tasks such as grabbing, loading, unloading, and transporting goods, and automate the inbound and outbound processes through pre-set path planning algorithms. Crucially, multi-robot systems achieve task-level collaboration through wireless communication networks (such as 5G and Wi-Fi 6), dynamically allocating handling tasks and optimizing path selection, significantly improving operational efficiency in scenarios with high cargo throughput.

[0004] However, as application scenarios become more complex, the technical shortcomings of multi-robot collaborative control are gradually becoming apparent. While the current mainstream distributed control architecture achieves decentralized decision-making through local communication, three core issues remain in high-density operating environments: First, frequent path conflicts. Because each robot independently plans its path, congestion can easily occur in narrow passages or intersections, reducing the overall system throughput. Second, dynamic obstacle avoidance capabilities are insufficient. When faced with obstacles (such as fallen goods or intruders) or robot failures, existing algorithms struggle to quickly reconstruct collision-free paths, which can easily lead to chain collisions. Third, communication delays and data loss. In large-scale robot swarms, wireless channel competition increases command transmission latency. Some robots may execute outdated tasks due to information asynchrony, further exacerbating system uncertainty.

[0005] As mentioned above, how to provide a distributed multi-robot collaborative control method, system and electronic equipment that can effectively avoid collisions and ensure the safe collaborative transportation of multiple robots has become an urgent problem to be solved. Summary of the Invention

[0006] The purpose of the present invention is to provide a distributed multi-robot collaborative control method, system and electronic equipment to solve the above-mentioned problems existing in the prior art.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a distributed multi-robot collaborative control method, comprising: Acquire basic motion data of each robot and relative relationship data between each robot, establish a robot motion model for each robot based on the basic motion data of each robot, and establish a multi-robot communication topology model based on the relative relationship data between each robot, wherein the output of the robot motion model is an initial robot speed control instruction, and the output of the multi-robot communication topology model is a leader and follower communication structure between each robot; Obtaining preset collision risk trigger conditions and obstacle information, performing collision risk repulsion calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generating collision avoidance instructions based on the calculation results; generating a safe motion boundary for each robot according to the obstacle information and the robot motion model, and generating a safe detour instruction based on the safe motion boundary; The initial robot speed control instruction, the collision avoidance instruction and the safe detour instruction are integrated to form a multi-robot collaborative control instruction, and the multi-robot collaborative control instruction is sent to each robot according to the leader and follower communication structure.

[0008] In one possible design, a robot motion model is established for each robot based on its basic motion data, including: Obtaining basic motion data of each robot, wherein the basic motion data includes robot position, robot posture angle, robot linear velocity, robot angular velocity and robot measurement point offset; Based on the basic motion data of each robot, the following robot motion model is established: , (1) Among them, among them, Longitudinal position derivative, For the The lateral position derivative of the robot, For the The robot's posture angle, For the The linear speed of the robot, For the The angular velocity of the robot, For the The offset of the measurement points of each robot, represents a positive integer; Then, Linear speed of the robot Hedi Angular velocity of the robot for: ， (2) The first Linear speed of the robot Hedi Angular velocity of the robot Convert to The longitudinal velocity of the robot Hedi The lateral velocity of the robot : , (3) Get the preset robot speed, and according to the preset robot speed, The longitudinal velocity of the robot Hedi The lateral velocity of the robot Generate initial robot speed control instructions for each robot.

[0009] In one possible design, a multi-robot communication topology model is established based on the relative relationship data between the robots, including: Acquiring relative relationship data between the robots, wherein the relative relationship data includes the number of robots, the communication links between the robots, and the communication relationship between each robot and its adjacent robots; Based on the relative relationship data between each robot, an undirected graph structure is defined : , (4) in, is a set of points, each of which represents a robot. is a set of edges, where each edge represents a communication link between robots; According to the robot motion model of each robot, the communication relationship between each robot and the adjacent robots and the undirected graph structure , select the leader robot and define the other robots as follower robots; According to the communication relationship and undirected graph structure between the leader robot and each of the follower robots , building a leadership and follower communication structure.

[0010] In one possible design, obtaining preset collision risk trigger conditions and obstacle information, performing collision risk repulsion calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generating collision avoidance instructions based on the calculation results, includes: Obtain preset collision risk trigger conditions and obstacle information, wherein the preset collision risk trigger conditions include the risk trigger distance between adjacent robots , minimum safe distance between adjacent robots and potential energy gain coefficient The obstacle information includes the potential energy gain between the current robot and the obstacle , risk trigger distance between obstacle robots Minimum safe distance between the robot and obstacles ; Obtaining real-time motion state information of each robot according to the robot motion model of each robot and the multi-robot communication topology model, wherein the real-time motion state information of each robot includes a position coordinate of the current robot, a posture angle of the current robot, a linear velocity of the current robot, and an angular velocity of the current robot; According to the real-time motion state information of each robot and the obstacle information, the distance between the current robot and the adjacent robot is obtained. , the distance between the current robot and the obstacle , the sight angle of the adjacent robot relative to the current robot , the current robot's sight angle relative to the adjacent robot , the obstacle's sight angle relative to the current robot and the potential energy gain between the current robot and the adjacent robots ; The low trigger potential energy of each robot is calculated, and the collision avoidance potential energy of each robot is obtained, so as to generate a collision avoidance instruction according to the collision avoidance potential energy of each robot.

[0011] In one possible design, a low trigger potential energy is calculated for each robot, and a collision avoidance potential energy of each robot is obtained, so as to generate a collision avoidance instruction according to the collision avoidance potential energy of each robot, including: Determine the distance between the current robot and the adjacent robot Is it within the risk trigger distance between adjacent robots? Minimum safe distance between adjacent robots If so, the collision avoidance potential energy between the current robot and the adjacent robot is calculated by the following formula : , (5) If not, determine the distance between the current robot and the adjacent robot Is it not less than the risk trigger distance between adjacent robots? If yes, no collision avoidance instruction is generated; if no, a first repulsion avoidance instruction is generated for the current robot and the adjacent robot, wherein the first repulsion avoidance instruction is used to control the current robot and the adjacent robot to move away from each other; Determine the distance between the current robot and the obstacle Is it within the risk trigger distance between obstacle robots? Minimum safe distance between the robot and obstacles If so, the collision avoidance potential energy between the current robot and the obstacle is calculated by the following formula : , (6) If not, determine the distance between the current robot and the obstacle Is it not less than the risk trigger distance between obstacle robots? If yes, no collision avoidance instruction is generated; if no, a second repulsion avoidance instruction is generated for the current robot, where the second repulsion avoidance instruction is used to control the current robot to stay away from obstacles; Furthermore, in the above formulas (5) and (6), Indicates that the current robot is the first in the leader and follower communication structure. A robot, Indicates that the neighboring robot of the current robot is the first robot in the leader and follower communication structure. A robot, Indicates an obstacle, is the velocity coupling coefficient between the current robot and the adjacent robot, is the velocity coupling coefficient between the current robot and the obstacle: , (7) in, Indicates the current linear velocity of the robot. Indicates the linear velocity of the neighboring robots of the current robot, is the absolute value operator, represents the base of natural logarithms; According to the potential energy of avoiding collision between the current robot and the adjacent robot and the potential energy for avoiding collision between the current robot and the obstacle , generating a risk avoidance instruction, wherein the risk avoidance instruction is used to control the current robot to avoid collision with adjacent robots and obstacles; The first repulsion avoidance instruction, the second repulsion avoidance instruction and the avoidance instruction of each robot are integrated to form a collision avoidance instruction.

[0012] In one possible design, a safe motion boundary is generated for each robot according to the obstacle information and the robot motion model, and a safe detour instruction is generated based on the safe motion boundary, including: Based on the obstacle information, a model of the obstacle is constructed to form an obstacle model, and the edge of the projection of the obstacle model on the ground is used as the obstacle model edge line, wherein the obstacle model is a hemisphere with the obstacle center as the sphere center, and the obstacle model edge line is a circle with the obstacle center as the circle center and the distance between the most prominent point of the obstacle and the obstacle center as the radius; Obtaining a preset safe detour distance, and obtaining the robot position of each robot according to the robot motion model, and generating a safe motion boundary for each robot with the robot position of each robot as the center and the preset safe detour distance as the radius; Determining whether the safe motion boundary of each robot intersects with the edge line of the obstacle model, and if so, generating a first motion direction adjustment instruction, wherein the first motion direction adjustment instruction is used to apply a first acceleration to the robot; If not, obtaining the acceleration of each robot based on the robot motion model, and determining whether the acceleration direction of each robot is close to the edge line of the obstacle model; if so, generating a second motion direction adjustment instruction, wherein the second motion direction adjustment instruction is used to apply a second acceleration to the robot; if not, no movement direction adjustment instruction is generated, wherein the first acceleration and the second acceleration are both accelerations in a direction away from the obstacle, and the absolute value of the first acceleration is not less than the absolute value of the second acceleration; For each robot, the first motion direction adjustment instruction and the second motion direction adjustment instruction are integrated to form a safe detour instruction.

[0013] In one possible design, for each robot, integrating the first motion direction adjustment instruction and the second motion direction adjustment instruction to form a safe detour instruction includes: For each robot, integrating the first motion direction adjustment instruction and the second motion direction adjustment instruction, and obtaining an acceleration threshold based on the robot motion model, wherein the acceleration threshold is a directionless acceleration value; Correcting the first acceleration and the second acceleration according to the acceleration threshold includes: If the absolute value of the first acceleration does not exceed the acceleration threshold, the first acceleration and the second acceleration are used as safety accelerations; If the absolute value of the first acceleration exceeds the acceleration threshold and the absolute value of the second acceleration does not exceed the acceleration threshold, replacing the magnitude of the first acceleration with the acceleration threshold, correcting the first acceleration to a first safety acceleration, and using the first safety acceleration and the second acceleration as the safety acceleration; If the absolute value of the second acceleration exceeds the acceleration threshold, replacing the magnitudes of the first acceleration and the second acceleration with the acceleration threshold, correcting the first acceleration to a first safety acceleration, correcting the second acceleration to a second safety acceleration, and using the first safety acceleration and the second safety acceleration as the safety acceleration; For each robot, the first motion direction adjustment instruction and the second motion direction adjustment instruction are corrected using the safety acceleration to obtain the first safe motion direction adjustment instruction and the second safe motion direction adjustment instruction, so as to generate the safe bypass instruction through the first safe motion direction adjustment instruction and the second safe motion direction adjustment instruction.

[0014] In one possible design, the initial robot speed control instruction, the collision avoidance instruction, and the safe detour instruction are integrated to form a multi-robot collaborative control instruction, and the multi-robot collaborative control instruction is sent to each robot according to the leader-follower communication structure, including: Solving the initial robot speed control instruction to obtain an initial robot linear speed control instruction and an initial robot angular speed control instruction; Using the collision avoidance instruction and the safe detour instruction, the initial robot linear speed control instruction and the initial robot angular speed control instruction of each robot are modified to generate an actual robot speed control instruction for each robot, wherein the actual robot speed control instruction includes an actual robot linear speed control instruction and an actual robot angular speed control instruction; The actual robot speed control instructions of each robot are integrated into a multi-robot collaborative control instruction, and the multi-robot collaborative control instruction is sent to the leader and follower communication structure, so that the multi-robot collaborative control instruction is respectively issued to each robot according to the leader and follower communication structure.

[0015] In a second aspect, the present invention provides a distributed multi-robot collaborative control system for implementing any of the distributed multi-robot collaborative control methods described in the first aspect, characterized in that it includes: a motion and communication structure modeling unit, configured to obtain basic motion data of each robot and relative relationship data between each robot, establish a robot motion model for each robot based on the basic motion data of each robot, and establish a multi-robot communication topology model based on the relative relationship data between each robot, wherein the output of the robot motion model is an initial robot speed control instruction, and the output of the multi-robot communication topology model is a leader and follower communication structure between each robot; a collision avoidance instruction generating unit, configured to obtain preset collision risk trigger conditions and obstacle information, perform collision risk rejection calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generate a collision avoidance instruction based on the calculation results; a safe detour instruction generating unit, configured to generate a safe motion boundary for each robot according to the obstacle information and the robot motion model, and generate a safe detour instruction based on the safe motion boundary; The collaborative control instruction generation and issuance unit is used to integrate the initial robot speed control instruction, the collision avoidance instruction and the safe bypass instruction to form a multi-robot collaborative control instruction, and send the multi-robot collaborative control instruction to each robot according to the leader and follower communication structure.

[0016] In a third aspect, the present invention provides an electronic device comprising a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the distributed multi-robot collaborative control method as described in the first aspect or any possible design of the first aspect.

[0017] Beneficial effect: The present invention provides a distributed multi-robot collaborative control method, system and electronic equipment, which include: first, obtaining the basic motion data of each robot and the relative relationship data between each robot, establishing a robot motion model for each robot according to the basic motion data of each robot, and establishing a multi-robot communication topology model according to the relative relationship data between each robot, wherein the output of the robot motion model is the initial robot speed control instruction, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot; second, obtaining the preset collision risk trigger condition and obstacle information to determine the collision risk between each robot according to the relative relationship data between each robot. The system performs collision risk exclusion calculations on each robot based on the robot motion model of the human, the multi-robot communication topology model, the preset collision risk trigger conditions and the obstacle information, and generates collision avoidance instructions based on the calculation results; then, generates a safe motion boundary for each robot based on the obstacle information and the robot motion model, and generates a safe detour instruction based on the safe motion boundary; finally, integrates the initial robot speed control instruction, the collision avoidance instruction and the safe detour instruction to form a multi-robot collaborative control instruction, and sends the multi-robot collaborative control instruction to each robot respectively according to the leader and follower communication structure. By constructing a robot motion model and a multi-robot communication topology model, guarantees are provided for the motion control and signal transmission of multiple robots. In addition, through collision risk exclusion calculation, collision avoidance instructions are obtained to ensure that multiple robots will not collide with other robots or obstacles during movement. The safety of bypassing obstacles is then improved through safe bypass instructions. Finally, multi-robot collaborative control instructions are generated and sent to each robot according to the leader-follower communication structure to improve the robot's reasonable obstacle avoidance, adjacent robot exclusion and communication collaboration capabilities, thereby improving the robot's safety and transportation efficiency in the transportation path, effectively avoiding collisions, and ensuring safe collaborative transportation of multiple robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a distributed multi-robot collaborative control method provided by an embodiment of the present invention; Figure 2 A schematic diagram of the functional structure of a distributed multi-robot collaborative control system provided by an embodiment of the present invention; Figure 3 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly introduced below in conjunction with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0020] It should be understood that although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element can be referred to as a second element, and similarly, a second element can be referred to as a first element without departing from the scope of the exemplary embodiments of the present invention.

[0021] It should be understood that the term "and / or" that may appear in this document is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may indicate three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" that may appear in this document describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B may indicate two situations: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0022] Example: like Figure 1 As shown, the first aspect of this embodiment provides a distributed multi-robot collaborative control method, which includes: S1. Obtain basic motion data for each robot and relative relationship data between each robot, establish a robot motion model for each robot based on the basic motion data, and establish a multi-robot communication topology model based on the relative relationship data between each robot, wherein the output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot; In one possible implementation, in step S1 of this embodiment, a robot motion model is established for each robot based on the basic motion data of each robot, which can be decomposed into, but not limited to, the following steps S11-S14, including: S11. Obtain basic motion data of each robot, wherein the basic motion data includes robot position, robot attitude angle, robot linear velocity, robot angular velocity and robot measurement point offset; S12. Based on the basic motion data of each robot, the following robot motion model is established: , (1) in, Longitudinal position derivative, For the The lateral position derivative of the robot, For the The robot's posture angle, For the The linear speed of the robot, For the The angular velocity of the robot, For the The offset of the measurement points of each robot, represents a positive integer, and ( , ) is the The position of the robot; Then, Linear speed of the robot Hedi Angular velocity of the robot for: ， (2) S13. Linear speed of the robot Hedi Angular velocity of the robot Convert to The longitudinal velocity of the robot Hedi The lateral velocity of the robot : , (3) S14. Get the preset robot speed, and The longitudinal velocity of the robot Hedi The lateral velocity of the robot Generate initial robot speed control instructions for each robot.

[0023] In one possible implementation, in step S1 of this embodiment, a multi-robot communication topology model is established based on the relative relationship data between the robots, which can be decomposed into, but not limited to, the following steps S15-S18, including: S15. Obtaining relative relationship data between each robot, wherein the relative relationship data includes the number of robots, the communication links between each robot, and the communication relationship between each robot and the adjacent robot; S16. Based on the relative relationship data between each robot, define an undirected graph structure : , (4) in, is a set of points, each of which represents a robot. is a set of edges, where each edge represents a communication link between robots; S17. Based on the robot motion model of each robot, the communication relationship between each robot and the adjacent robots and the undirected graph structure , select the leader robot and define the other robots as follower robots; S18. Based on the communication relationship and undirected graph structure between the leader robot and each of the follower robots , building a leadership and follower communication structure.

[0024] It should be noted that although formula (3) is the same as formula (1) in form, it is actually a process of decoupling the final generated control command from the basic motion data of the robot, so that the final generated longitudinal velocity and the lateral velocity This allows for clearer control. After receiving the command, the robot directly interprets the initial robot velocity control command and controls its linear and angular velocity. This design decouples complex robot posture control commands into simple longitudinal and lateral velocity control commands, simplifying the issuance of control commands and improving the collaborative control of multiple robots.

[0025] Moreover, the leader and follower communication structure in the multi-robot communication topology model is a communication topology structure composed of a leader robot and multiple follower robots as vertices, and the communication connection relationships between the leader robot and each follower robot and between each follower robot as edges, which are connected to each other. Among them, the leader robot is the core of global trajectory planning in the multi-robot movement, responsible for generating (or first receiving) and executing instructions. Its movement trajectory is not controlled or affected by other robots. It only needs to execute obstacle avoidance instructions during movement. After generating (or first receiving) the control instructions, the leader robot will follow the undirected graph structure. The edge connection relationship in the process sends its own motion state information (basic information such as position and speed) and instruction content to some followers, and the leader robot does not receive signal feedback from the follower robot; the follower robot needs to track the motion trajectory of the leader robot through the distributed controller, and cooperate with the neighboring followers to maintain the formation and avoid obstacles. Therefore, most of the control process in steps S2-S3 is executed by the follower robot, which is implemented through the undirected graph structure. The edge connection relationship in the graph receives the instructions transmitted by the adjacent robot, and the following robot executes the received instructions and sends the instructions again along the undirected graph structure. The leader-follower communication structure not only quantifies the distributed collaborative relationships between robots and ensures their controllability, but also avoids wireless channel contention caused by unclear communication link selection, which can increase command transmission latency, lead to command execution timeouts for some robots, and cause overall collaborative failure. Therefore, by establishing this leader-follower communication structure, the timeliness and accuracy of collaborative control can be further improved.

[0026] S2. Obtaining preset collision risk trigger conditions and obstacle information, performing collision risk exclusion calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generating collision avoidance instructions based on the calculation results; In one possible implementation, in step S2 of this embodiment, the preset collision risk trigger condition and obstacle information are obtained, and collision risk repulsion calculation is performed on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger condition, and the obstacle information. A collision avoidance instruction is generated based on the calculation result. This can be decomposed into, but is not limited to, the following steps S21-S24, including: S21. Obtaining preset collision risk trigger conditions and obstacle information, wherein the preset collision risk trigger conditions include the risk trigger distance between adjacent robots , minimum safe distance between adjacent robots and potential energy gain coefficient The obstacle information includes the potential energy gain between the current robot and the obstacle , risk trigger distance between obstacle robots Minimum safe distance between the robot and obstacles ; S22. Obtaining real-time motion state information of each robot based on the robot motion model of each robot and the multi-robot communication topology model, wherein the real-time motion state information of each robot includes the position coordinates of the current robot, the posture angle of the current robot, the linear velocity of the current robot, and the angular velocity of the current robot; S23. According to the real-time motion state information of each robot and the obstacle information, the distance between the current robot and the adjacent robot is obtained. , the distance between the current robot and the obstacle , the sight angle of the adjacent robot relative to the current robot , the current robot's sight angle relative to the adjacent robot , the obstacle's sight angle relative to the current robot and the potential energy gain between the current robot and the adjacent robots ; S24. Calculate the low trigger potential energy of each robot and obtain the collision avoidance potential energy of each robot, so as to generate a collision avoidance instruction according to the collision avoidance potential energy of each robot.

[0027] In one possible implementation, in step S24 of this embodiment, low trigger potential energy is calculated for each robot, and collision avoidance potential energy of each robot is obtained, so that collision avoidance instructions are generated based on the collision avoidance potential energy of each robot. This may be decomposed into, but is not limited to, the following steps S241-S244, including: S241. Determine the distance between the current robot and the adjacent robot Is it within the risk trigger distance between adjacent robots? Minimum safe distance between adjacent robots If so, the collision avoidance potential energy between the current robot and the adjacent robot is calculated by the following formula : , (5) If not, determine the distance between the current robot and the adjacent robot Is it not less than the risk trigger distance between adjacent robots? If yes, no collision avoidance instruction is generated; if no, a first repulsion avoidance instruction is generated for the current robot and the adjacent robot, wherein the first repulsion avoidance instruction is used to control the current robot and the adjacent robot to move away from each other; S242. Determine the distance between the current robot and the obstacle Is it within the risk trigger distance between obstacle robots? Minimum safe distance between the robot and obstacles If so, the collision avoidance potential energy between the current robot and the obstacle is calculated by the following formula : , (6) If not, determine the distance between the current robot and the obstacle Is it not less than the risk trigger distance between obstacle robots? If yes, no collision avoidance instruction is generated; if no, a second repulsion avoidance instruction is generated for the current robot, where the second repulsion avoidance instruction is used to control the current robot to stay away from obstacles; Furthermore, in the above formulas (5) and (6), Indicates that the current robot is the first in the leader and follower communication structure. A robot, Indicates that the neighboring robot of the current robot is the first robot in the leader and follower communication structure. A robot, Indicates an obstacle, is the velocity coupling coefficient between the current robot and the adjacent robot, is the velocity coupling coefficient between the current robot and the obstacle: , (7) in, Indicates the current linear velocity of the robot. Indicates the linear velocity of the neighboring robots of the current robot, is the absolute value operator, represents the base of natural logarithms; S243. Based on the potential energy of avoiding collision between the current robot and the adjacent robot and the potential energy for avoiding collision between the current robot and the obstacle , generating a risk avoidance instruction, wherein the risk avoidance instruction is used to control the current robot to avoid collision with adjacent robots and obstacles; S244. Integrate the first repulsion avoidance instruction, the second repulsion avoidance instruction and the avoidance instruction of each robot to form a collision avoidance instruction.

[0028] It should be noted that in specific applications, the speed coupling coefficient between the current robot and the adjacent robot is used. and the velocity coupling coefficient between the current robot and the obstacle The robot’s sight angle is introduced to ensure the consideration of the relative speed and direction between each robot. (When the current robot and the adjacent robot are relatively stationary or far away, the repulsive force between the two is considered to be close to zero, and the collision avoidance potential energy is also zero.) Therefore, the collision avoidance potential energy is triggered when and only when it is detected that the current robot satisfies both the distance condition and the direction condition. The calculation of the low trigger potential energy calculation (i.e., low trigger potential energy calculation) is performed to generate the first repulsion avoidance instruction. This low trigger potential energy calculation design can avoid the issuance of a large number of invalid instructions in the collaborative control of multiple robots, ensuring the rationality of the robot speed control instruction. When the robots are far apart, the collision avoidance instruction can be kept in a weak constraint state, ensuring that they can move smoothly. In addition, the potential energy gain coefficient It can form an adjustment to adjust the intensity of potential energy to avoid collision, so as to avoid multi-task conflicts between robots due to the adjustment of collision avoidance instructions.

[0029] By setting steps S241 and S242, the current robot can avoid collisions in a timely manner when it detects a risk of collision, and maintain a normal moving posture and speed, so as to better maintain the moving formation of multiple robots. When each follower robot encounters an obstacle, it can achieve timely, reasonable and smooth speed and direction adjustment, so that multiple robots can complete smooth obstacle avoidance while maintaining a normal displacement path, and there is no need to worry about collisions between the follower robots, thereby ensuring efficiency and safety in cargo handling.

[0030] S3. Based on the obstacle information and the robot motion model, a safe motion boundary is generated for each robot, and based on the safe motion boundary, a safe detour instruction is generated; In one possible implementation, in step S3 of this embodiment, generating a safe motion boundary for each robot based on the obstacle information and the robot motion model, and generating a safe detour instruction based on the safe motion boundary can be decomposed into, but not limited to, the following steps S31-S34, including: S31. Based on the obstacle information, construct a model of the obstacle to form an obstacle model, and use the edge of the projection of the obstacle model on the ground as the obstacle model edge line, wherein the obstacle model is a hemisphere with the obstacle center as the center, and the obstacle model edge line is a circle with the obstacle center as the center and the distance between the most prominent point of the obstacle and the obstacle center as the radius; S32. Obtain a preset safe detour distance, and according to the robot motion model, obtain the robot position of each robot, with the robot position of each robot as the center and the preset safe detour distance as the radius, generate a safe motion boundary for each robot; S33. Determine whether the safe motion boundary of each robot intersects with the edge line of the obstacle model. If so, generate a first motion direction adjustment instruction, wherein the first motion direction adjustment instruction is used to apply a first acceleration to the robot; If not, obtaining the acceleration of each robot based on the robot motion model, and determining whether the acceleration direction of each robot is close to the edge line of the obstacle model; if so, generating a second motion direction adjustment instruction, wherein the second motion direction adjustment instruction is used to apply a second acceleration to the robot; if not, no movement direction adjustment instruction is generated, wherein the first acceleration and the second acceleration are both accelerations in a direction away from the obstacle, and the absolute value of the first acceleration is not less than the absolute value of the second acceleration; S34. For each robot, integrate the first motion direction adjustment instruction and the second motion direction adjustment instruction to form a safe detour instruction.

[0031] In one possible implementation, in step S34 of this embodiment, for each robot, integrating the first motion direction adjustment instruction and the second motion direction adjustment instruction to form a safe detour instruction may be decomposed into, but not limited to, the following steps S341-S343, including: S341. For each robot, integrate the first motion direction adjustment instruction and the second motion direction adjustment instruction, and obtain an acceleration threshold based on the robot motion model, wherein the acceleration threshold is a directionless acceleration value; S342. Correcting the first acceleration and the second acceleration according to the acceleration threshold, including: If the absolute value of the first acceleration does not exceed the acceleration threshold, the first acceleration and the second acceleration are used as safety accelerations; If the absolute value of the first acceleration exceeds the acceleration threshold and the absolute value of the second acceleration does not exceed the acceleration threshold, replacing the magnitude of the first acceleration with the acceleration threshold, correcting the first acceleration to a first safety acceleration, and using the first safety acceleration and the second acceleration as the safety acceleration; If the absolute value of the second acceleration exceeds the acceleration threshold, replacing the magnitudes of the first acceleration and the second acceleration with the acceleration threshold, correcting the first acceleration to a first safety acceleration, correcting the second acceleration to a second safety acceleration, and using the first safety acceleration and the second safety acceleration as the safety acceleration; S343. For each robot, the first motion direction adjustment instruction and the second motion direction adjustment instruction are corrected using the safety acceleration to obtain a first safe motion direction adjustment instruction and a second safe motion direction adjustment instruction, so as to generate the safe bypass instruction through the first safe motion direction adjustment instruction and the second safe motion direction adjustment instruction.

[0032] It should be noted that in specific application scenarios, temporary obstacles (such as pedestrians, vehicles, scattered goods, and / or robots that suddenly malfunction) often appear in the field during the loading, unloading, and handling processes. Therefore, the introduction of safe detour instructions enables each robot to respond to these situations in a timely manner and complete safe detours. Specifically: Taking a faulty robot as an example, due to problems such as equipment aging or communication interruption, a follower robot in the leader-follower communication structure may stop moving or move uncontrollably. When this happens, the adjacent follower robot will continuously send information about the communication interruption to the outside world, and in a very short time, the faulty robot will be identified as a faulty object, and a real-time changing obstacle model will be generated. For this obstacle model, a motion direction adjustment instruction (a first motion direction adjustment instruction or a second motion direction adjustment instruction) will be generated in a timely manner to ensure that each follower robot has the ability to avoid temporary obstacles.

[0033] At the same time, the safe bypass instruction can also complement the collision avoidance instruction. Under the control of the safe bypass instruction, the robot can be controlled to bypass along the safe motion boundary first. During the bypass process, the speed and posture of each robot are adjusted through the collision avoidance instruction to ensure that there is no collision with obstacles and no collision with adjacent robots. The final generated multi-robot collaborative control instruction takes into account the smoothness and robustness of obstacle avoidance control.

[0034] S4. Integrate the initial robot speed control instruction, the collision avoidance instruction and the safe detour instruction to form a multi-robot collaborative control instruction, and send the multi-robot collaborative control instruction to each robot according to the leader and follower communication structure.

[0035] In one possible implementation, in step S4 of this embodiment, the initial robot speed control instruction, the collision avoidance instruction, and the safe detour instruction are integrated to form a multi-robot collaborative control instruction, and the multi-robot collaborative control instruction is sent to each robot according to the leader-follower communication structure. This can be decomposed into, but is not limited to, the following steps S41-S43, including: S41. Calculate the initial robot speed control command to obtain the initial robot linear speed control command and the initial robot angular speed control command; S42. Using the collision avoidance instruction and the safe detour instruction, modify the initial robot linear velocity control instruction and the initial robot angular velocity control instruction of each robot to generate an actual robot velocity control instruction for each robot, wherein the actual robot velocity control instruction includes an actual robot linear velocity control instruction and an actual robot angular velocity control instruction; S43. Integrate the actual robot speed control instructions of each robot into a multi-robot collaborative control instruction, and send the multi-robot collaborative control instruction to the leader and follower communication structure, so that the multi-robot collaborative control instruction is respectively issued to each robot according to the leader and follower communication structure.

[0036] It should be noted that, by combining the initial robot speed control instructions, the collision avoidance instructions and the safe detour instructions, each robot can complete the obstacle avoidance task and perform safe detours while moving along the basic preset path. In the process of detouring and avoiding obstacles, the relative speed and distance between itself and other robots are still kept within a safe range, and there will be no confusion or line crossing, thereby effectively avoiding the occurrence of collisions, improving transportation efficiency and safety, and ensuring the safe coordination of multiple robots.

[0037] like Figure 2 As shown, the second aspect of this embodiment provides a hardware system for implementing the distributed multi-robot collaborative control method described in the first aspect of the embodiment, including: a motion and communication structure modeling unit, configured to obtain basic motion data of each robot and relative relationship data between each robot, establish a robot motion model for each robot based on the basic motion data of each robot, and establish a multi-robot communication topology model based on the relative relationship data between each robot, wherein the output of the robot motion model is an initial robot speed control instruction, and the output of the multi-robot communication topology model is a leader and follower communication structure between each robot; a collision avoidance instruction generating unit, configured to obtain preset collision risk trigger conditions and obstacle information, perform collision risk rejection calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generate a collision avoidance instruction based on the calculation results; a safe detour instruction generating unit, configured to generate a safe motion boundary for each robot according to the obstacle information and the robot motion model, and generate a safe detour instruction based on the safe motion boundary; The collaborative control instruction generation and issuance unit is used to integrate the initial robot speed control instruction, the collision avoidance instruction and the safe bypass instruction to form a multi-robot collaborative control instruction, and send the multi-robot collaborative control instruction to each robot according to the leader and follower communication structure.

[0038] The working process, working details and technical effects of the system provided in this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0039] like Figure 3 As shown, the third aspect of this embodiment provides an electronic device, comprising: a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read computer programs and execute the method described in the first aspect of the embodiment.

[0040] For example, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in first-out memory (FIFO), and / or first-in last-out memory (FILO). Specifically, the processor may include one or more processing cores, such as a quad-core processor or an octal-core processor. The processor may be implemented in at least one of the following hardware forms: a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), or a PLA (Programmable Logic Array). Furthermore, the processor may include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state.

[0041] In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. For example, the processor may be, but is not limited to, a microprocessor of the STM32F105 series, a reduced instruction set computer (RISC) microprocessor, an X86 architecture processor, or a processor with an integrated embedded neural network processing unit (NPU). The transceiver may be, but is not limited to, a Wireless Fidelity (WIFI) wireless transceiver, a Bluetooth wireless transceiver, a General Packet Radio Service (GPRS) wireless transceiver, a ZigBee protocol (a low-power local area network protocol based on the IEEE802.15.4 standard, ZigBee) wireless transceiver, a 3G transceiver, a 4G transceiver, and / or a 5G transceiver. In addition, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.

[0042] The working process, working details and technical effects of the electronic device provided in this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0043] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A distributed multi-robot collaborative control method, characterized in that: include: Acquire basic motion data of each robot and relative relationship data between each robot, establish a robot motion model for each robot based on the basic motion data of each robot, and establish a multi-robot communication topology model based on the relative relationship data between each robot, wherein the output of the robot motion model is an initial robot speed control instruction, and the output of the multi-robot communication topology model is a leader and follower communication structure between each robot; Obtaining preset collision risk trigger conditions and obstacle information, performing collision risk repulsion calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generating collision avoidance instructions based on the calculation results; generating a safe motion boundary for each robot according to the obstacle information and the robot motion model, and generating a safe detour instruction based on the safe motion boundary; The initial robot speed control instruction, the collision avoidance instruction and the safe detour instruction are integrated to form a multi-robot collaborative control instruction, and the multi-robot collaborative control instruction is sent to each robot according to the leader and follower communication structure.

2. The distributed multi-robot collaborative control method according to claim 1, characterized in that: A robot motion model is established for each robot based on its basic motion data, including: Obtaining basic motion data of each robot, wherein the basic motion data includes robot position, robot posture angle, robot linear velocity, robot angular velocity and robot measurement point offset; Based on the basic motion data of each robot, the following robot motion model is established: ，（1） in, Longitudinal position derivative, For the The lateral position derivative of the robot, For the The robot's posture angle, For the The linear speed of the robot, For the The angular velocity of the robot, For the The offset of the measurement points of each robot, represents a positive integer; Then, Linear speed of the robot Hedi Angular velocity of the robot for: ， （2） The first Linear speed of the robot Hedi Angular velocity of the robot Convert to The longitudinal velocity of the robot Hedi The lateral velocity of the robot : ，（3） Get the preset robot speed, and according to the preset robot speed, The longitudinal velocity of the robot Hedi The lateral velocity of the robot Generate initial robot speed control instructions for each robot.

3. The distributed multi-robot collaborative control method according to claim 2, characterized in that: Based on the relative relationship data between each robot, a multi-robot communication topology model is established, including: Acquiring relative relationship data between the robots, wherein the relative relationship data includes the number of robots, the communication links between the robots, and the communication relationship between each robot and its adjacent robots; Based on the relative relationship data between each robot, an undirected graph structure is defined : ，（4） in, is a set of points, each of which represents a robot. is a set of edges, where each edge represents a communication link between robots; According to the robot motion model of each robot, the communication relationship between each robot and the adjacent robots and the undirected graph structure , select the leader robot and define the other robots as follower robots; According to the communication relationship and undirected graph structure between the leader robot and each of the follower robots , building a leadership and follower communication structure.

4. The distributed multi-robot collaborative control method according to claim 1, characterized in that: Obtaining preset collision risk trigger conditions and obstacle information, performing collision risk exclusion calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generating collision avoidance instructions based on the calculation results, including: Obtain preset collision risk trigger conditions and obstacle information, wherein the preset collision risk trigger conditions include the risk trigger distance between adjacent robots , minimum safe distance between adjacent robots and potential energy gain coefficient The obstacle information includes the potential energy gain between the current robot and the obstacle , risk trigger distance between obstacle robots Minimum safe distance between the robot and obstacles ; Obtaining real-time motion state information of each robot according to the robot motion model of each robot and the multi-robot communication topology model, wherein the real-time motion state information of each robot includes a position coordinate of the current robot, a posture angle of the current robot, a linear velocity of the current robot, and an angular velocity of the current robot; According to the real-time motion state information of each robot and the obstacle information, the distance between the current robot and the adjacent robot is obtained. , the distance between the current robot and the obstacle , the sight angle of the adjacent robot relative to the current robot , the current robot's sight angle relative to the adjacent robot , the obstacle's sight angle relative to the current robot and the potential energy gain between the current robot and the adjacent robots ; The low trigger potential energy of each robot is calculated, and the collision avoidance potential energy of each robot is obtained, so as to generate a collision avoidance instruction according to the collision avoidance potential energy of each robot.

5. The distributed multi-robot collaborative control method according to claim 4, characterized in that: Calculate the low trigger potential energy of each robot and obtain the collision avoidance potential energy of each robot, so as to generate a collision avoidance instruction according to the collision avoidance potential energy of each robot, including: Determine the distance between the current robot and the adjacent robot Is it within the risk trigger distance between adjacent robots? Minimum safe distance between adjacent robots If so, the collision avoidance potential energy between the current robot and the adjacent robot is calculated by the following formula : ，（5） If not, determine the distance between the current robot and the adjacent robot Is it not less than the risk trigger distance between adjacent robots? If yes, no collision avoidance instruction is generated; if no, a first repulsion avoidance instruction is generated for the current robot and the adjacent robot, wherein the first repulsion avoidance instruction is used to control the current robot and the adjacent robot to move away from each other; Determine the distance between the current robot and the obstacle Is it within the risk trigger distance between obstacle robots? Minimum safe distance between the robot and obstacles If so, the collision avoidance potential energy between the current robot and the obstacle is calculated by the following formula : ，（6） If not, determine the distance between the current robot and the obstacle Is it not less than the risk trigger distance between obstacle robots? If yes, no collision avoidance instruction is generated; if no, a second repulsion avoidance instruction is generated for the current robot, where the second repulsion avoidance instruction is used to control the current robot to stay away from obstacles; Furthermore, in the above formulas (5) and (6), Indicates that the current robot is the first in the leader and follower communication structure. A robot, Indicates that the neighboring robot of the current robot is the first robot in the leader and follower communication structure. A robot, Indicates an obstacle, is the velocity coupling coefficient between the current robot and the adjacent robot, is the velocity coupling coefficient between the current robot and the obstacle: ，（7） in, Indicates the current linear velocity of the robot. Indicates the linear velocity of the current robot's neighboring robots, is the absolute value operator, represents the base of natural logarithms; According to the potential energy of avoiding collision between the current robot and the adjacent robot and the potential energy for avoiding collision between the current robot and the obstacle , generating a risk avoidance instruction, wherein the risk avoidance instruction is used to control the current robot to avoid collision with adjacent robots and obstacles; The first repulsion avoidance instruction, the second repulsion avoidance instruction and the avoidance instruction of each robot are integrated to form a collision avoidance instruction.

6. The distributed multi-robot collaborative control method according to claim 1, characterized in that: Generating a safe motion boundary for each robot according to the obstacle information and the robot motion model, and generating a safe detour instruction based on the safe motion boundary, including: Based on the obstacle information, a model of the obstacle is constructed to form an obstacle model, and the edge of the projection of the obstacle model on the ground is used as the obstacle model edge line, wherein the obstacle model is a hemisphere with the obstacle center as the sphere center, and the obstacle model edge line is a circle with the obstacle center as the circle center and the distance between the most prominent point of the obstacle and the obstacle center as the radius; Obtaining a preset safe detour distance, and obtaining the robot position of each robot according to the robot motion model, and generating a safe motion boundary for each robot with the robot position of each robot as the center and the preset safe detour distance as the radius; Determining whether the safe motion boundary of each robot intersects with the edge line of the obstacle model, and if so, generating a first motion direction adjustment instruction, wherein the first motion direction adjustment instruction is used to apply a first acceleration to the robot; If not, obtaining the acceleration of each robot based on the robot motion model, and determining whether the acceleration direction of each robot is close to the edge line of the obstacle model; if so, generating a second motion direction adjustment instruction, wherein the second motion direction adjustment instruction is used to apply a second acceleration to the robot; if not, no movement direction adjustment instruction is generated, wherein the first acceleration and the second acceleration are both accelerations in a direction away from the obstacle, and the absolute value of the first acceleration is not less than the absolute value of the second acceleration; For each robot, the first motion direction adjustment instruction and the second motion direction adjustment instruction are integrated to form a safe detour instruction.

7. The distributed multi-robot collaborative control method according to claim 6, characterized in that: For each robot, integrating the first motion direction adjustment instruction and the second motion direction adjustment instruction to form a safe detour instruction includes: For each robot, integrating the first motion direction adjustment instruction and the second motion direction adjustment instruction, and obtaining an acceleration threshold based on the robot motion model, wherein the acceleration threshold is a directionless acceleration value; Correcting the first acceleration and the second acceleration according to the acceleration threshold includes: If the absolute value of the first acceleration does not exceed the acceleration threshold, the first acceleration and the second acceleration are used as safety accelerations; If the absolute value of the first acceleration exceeds the acceleration threshold and the absolute value of the second acceleration does not exceed the acceleration threshold, replacing the magnitude of the first acceleration with the acceleration threshold, correcting the first acceleration to a first safety acceleration, and using the first safety acceleration and the second acceleration as the safety acceleration; If the absolute value of the second acceleration exceeds the acceleration threshold, replacing the magnitudes of the first acceleration and the second acceleration with the acceleration threshold, correcting the first acceleration to a first safety acceleration, correcting the second acceleration to a second safety acceleration, and using the first safety acceleration and the second safety acceleration as the safety acceleration; For each robot, the first motion direction adjustment instruction and the second motion direction adjustment instruction are corrected using the safety acceleration to obtain the first safe motion direction adjustment instruction and the second safe motion direction adjustment instruction, so as to generate the safe bypass instruction through the first safe motion direction adjustment instruction and the second safe motion direction adjustment instruction.

8. The distributed multi-robot collaborative control method according to claim 1, characterized in that: Integrating the initial robot speed control instruction, the collision avoidance instruction, and the safe detour instruction to form a multi-robot collaborative control instruction, and sending the multi-robot collaborative control instruction to each robot according to the leader and follower communication structure, including: Solving the initial robot speed control instruction to obtain an initial robot linear speed control instruction and an initial robot angular speed control instruction; Using the collision avoidance instruction and the safe detour instruction, the initial robot linear speed control instruction and the initial robot angular speed control instruction of each robot are modified to generate an actual robot speed control instruction for each robot, wherein the actual robot speed control instruction includes an actual robot linear speed control instruction and an actual robot angular speed control instruction; The actual robot speed control instructions of each robot are integrated into a multi-robot collaborative control instruction, and the multi-robot collaborative control instruction is sent to the leader and follower communication structure, so that the multi-robot collaborative control instruction is respectively issued to each robot according to the leader and follower communication structure.

9. A distributed multi-robot collaborative control system, used to implement the distributed multi-robot collaborative control method according to any one of claims 1 to 8, characterized in that: include: a motion and communication structure modeling unit, configured to obtain basic motion data of each robot and relative relationship data between each robot, establish a robot motion model for each robot based on the basic motion data of each robot, and establish a multi-robot communication topology model based on the relative relationship data between each robot, wherein the output of the robot motion model is an initial robot speed control instruction, and the output of the multi-robot communication topology model is a leader and follower communication structure between each robot; a collision avoidance instruction generating unit, configured to obtain preset collision risk trigger conditions and obstacle information, perform collision risk rejection calculations on each robot based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk trigger conditions, and the obstacle information, and generate a collision avoidance instruction based on the calculation results; a safe detour instruction generating unit, configured to generate a safe motion boundary for each robot according to the obstacle information and the robot motion model, and generate a safe detour instruction based on the safe motion boundary; The collaborative control instruction generation and issuance unit is used to integrate the initial robot speed control instruction, the collision avoidance instruction and the safe bypass instruction to form a multi-robot collaborative control instruction, and send the multi-robot collaborative control instruction to each robot according to the leader and follower communication structure.

10. An electronic device, characterized in that: It includes a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the distributed multi-robot collaborative control method according to any one of claims 1 to 8.

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