Autonomous Mobile Robot and Point-to-Point Interaction Management System

Abstract

The present application provides a point-to-point interaction management system, which includes a plurality of peer devices. The plurality of peer devices include at least one robot control server and a plurality of autonomous mobile robots. A first peer device among the plurality of peer devices is configured to perform data interaction with a second peer device among the plurality of peer devices, wherein the data for interaction includes at least one of planned data, operation data, monitoring data, and security data. The present application also provides an autonomous mobile robot. The peer devices in the present application can directly perform data interaction without data forwarding by an intermediate device.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and particularly to an autonomous mobile robot and a point-to-point interaction management system. Background Art

[0002] In existing intelligent factory systems, if data interaction between multiple node devices (such as robots) is involved, it is often necessary to set up a central server or intermediate device to achieve data interaction between multiple node devices. Each node device in the system cannot operate independently. Existing distributed consensus technologies define a series of actions to achieve node consensus through voting. Each node is assigned an address sequence. Although this method can eliminate the intermediate device, it reduces the flexibility and independence of node operations, and the nodes have little ability to reconfigure. Therefore, a comprehensive management method covering tasks, robots, and behavior execution is needed. Summary of the Invention

[0003] In view of the above, this application provides an autonomous mobile robot and a point-to-point interaction management system, in which peer devices can directly perform data interaction.

[0004] An embodiment of this application provides a point-to-point interaction management system, including multiple peer devices. The multiple peer devices include at least one robot control server and multiple autonomous mobile robots. A first peer device among the multiple peer devices is used to perform data interaction with a second peer device among the multiple peer devices, where the interaction data includes at least one of planned data, operation data, monitoring data, and security data.

[0005] In some embodiments, the interaction priority of security data is greater than that of planned data, operation data, and monitoring data; or, the response priority of security data is greater than that of planned data, operation data, and monitoring data.

[0006] In some embodiments, the first peer device actively performs data interaction with the second peer device.

[0007] In some embodiments, when the first peer device receives an interaction request sent by the second peer device, the first peer device performs data interaction with the second peer device.

[0008] In some embodiments, the point-to-point interaction management system further includes multiple workpieces. Each workpiece among the multiple workpieces is a device or component with a specific operation function. Any one of the multiple peer devices is used to obtain first specified data from the workpiece, or any one of the multiple peer devices is used to transmit second specified data to the workpiece.

[0009] In some embodiments, when the first peer device transmits data to the second peer device, the first peer device interacts with the second peer device as a virtual workpiece.

[0010] In some embodiments, when the first peer device transmits schedule data to the second peer device, the first peer device interacts with the second peer device as a virtual schedule workpiece; when the first peer device transmits operation data to the second peer device, the first peer device interacts with the second peer device as a virtual operation workpiece; when the first peer device transmits monitoring data to the second peer device, the first peer device interacts with the second peer device as a virtual monitoring workpiece.

[0011] In some embodiments, the first peer device is further configured to obtain offline interaction data related to environmental components, where the environmental components are devices or components lacking network communication capabilities, and the first peer device is further configured to share the offline interaction data with the remaining peer devices.

[0012] In some embodiments, the first peer device is configured to actively detect the status of environmental components to obtain offline interaction data related to environmental components.

[0013] In some embodiments, the first peer device is configured to passively receive offline interaction data related to environmental components through an intermediate component.

[0014] In some embodiments, the security data includes at least one of a conflict resolution mechanism, an emergency event resolution mechanism, and a burst task resolution mechanism.

[0015] In some embodiments, the first peer device and the second peer device reach a consensus on the conflict resolution mechanism through the interaction of operation data, the first peer device and the second peer device reach a consensus on the emergency event resolution mechanism through the interaction of monitoring data, and the first peer device and the second peer device reach a consensus on the burst task resolution mechanism through the interaction of schedule data.

[0016] An embodiment of the present application provides an autonomous mobile robot, including: at least one processor; and a memory adapted to store a plurality of instructions, the instructions being adapted to be executed by the processor to: perform data interaction with a peer device; wherein the interaction data includes at least one of schedule data, operation data, monitoring data, and security data, and the peer device is a robot control server or another autonomous mobile robot.

[0017] In some embodiments, the interaction priority of the security data is higher than the interaction priorities of the schedule data, operation data, and monitoring data; or, the response priority of the security data is higher than the response priorities of the schedule data, operation data, and monitoring data.

[0018] In some embodiments, the instructions are adapted to be executed by a processor to perform data interaction with peer devices, including: actively initiating data interaction with peer devices by an autonomous mobile robot.

[0019] In some embodiments, the instructions are adapted to be executed by a processor to perform data interaction with peer devices, including: when the autonomous mobile robot receives an interaction request sent by a peer device, performing data interaction with the peer device.

[0020] In some embodiments, the instructions are further adapted to be executed by a processor to: passively obtain offline interaction data related to environmental elements, where the environmental elements are devices or components lacking network communication capabilities; and share the offline interaction data with peer devices.

[0021] In some embodiments, the instructions are adapted to be executed by a processor to obtain offline interaction data related to environmental elements, including: actively detecting the status of environmental elements to obtain offline interaction data related to environmental elements; or obtaining offline interaction data related to environmental elements through an intermediate component.

[0022] In some embodiments, the security data includes at least one of a conflict resolution mechanism, an emergency event resolution mechanism, and a burst task resolution mechanism.

[0023] In some embodiments, the autonomous mobile robot and peer devices reach a consensus on the conflict resolution mechanism through the interaction of operation data, reach a consensus on the emergency event resolution mechanism through the interaction of monitoring data, and reach a consensus on the burst task resolution mechanism through the interaction of planning data.

[0024] For the above-mentioned autonomous mobile robot and point-to-point interaction management system, the peer devices can directly interact with each other for data such as planning data, operation data, and monitoring data without the need for an intermediate server to forward. Moreover, it can provide a secure operation mechanism for peer devices without affecting the system performance, and can perform offline data interaction with offline components. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of an interaction management system for implementing point (peer device) - to - point interaction and point - to - workpiece interaction in an embodiment of the present application.

[0026] Figure 2 is a schematic architecture diagram of an interaction management system involving four interaction domains in an embodiment of the present application.

[0027] Figures 3a - 3b is Figure 1 a schematic diagram of the data interaction domain between two peer devices in the shown interaction management system.

[0028] Figures 4a - 4b isFigure 1 Schematic diagram of the operation interaction domain between two peer devices in the interaction management system shown.

[0029] Figure 5 Schematic diagram of the environment interaction domain between two or more peer devices and environmental elements in an embodiment of the present application.

[0030] Figure 6 is Figure 1 Schematic diagram of the security interaction domain between two peer devices in the interaction management system shown.

[0031] Figure 7 is Figure 1 Schematic diagram of the functional modules of the autonomous mobile robot in the interaction management system shown. Detailed implementation manners

[0032] In order to be able to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application will be described in detail below in conjunction with the drawings and specific implementation manners. It should be noted that, without conflict, the implementation manners of the present application and the features in the implementation manners can be combined with each other.

[0033] Many specific details are set forth in the following description in order to fully understand the present application. The described implementation manners are only a part of the implementation manners of the present application, rather than all of the implementation manners. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific implementation manners, and are not intended to limit the present application.

[0034] Refer to Figure 1 As shown, the point-to-point interaction management system 100 can optimize the Flexible Manufacture System (FMS). The point-to-point interaction management system 100 may include a plurality of peer devices 10_1 to 10_n (n is a natural number greater than 1). The data of the peer devices can be set according to actual needs, and the present application does not limit this.

[0035] In some embodiments, the plurality of peer devices 10_1 to 10_n may include a robot control server and a plurality of autonomous mobile robots. The plurality of peer devices 10_1 to 10_n can directly perform data interaction.

[0036] In some embodiments, the peer-to-peer interaction management system 100 may further include a plurality of workpieces 20. Each workpiece 20 may be a device or component with a specific function / performing a specific operation. For example, each workpiece 20 may be an operating device, a configuration device, or a scheduling device, etc. The operating device may include sensors, programmable logic controllers, actuators, etc. The configuration device may include a human-machine interface, a display screen, etc. The scheduling device may provide operation plan instructions to the peer devices 10_1 to 10_n. The scheduling device may include a Manufacturing Execution System (MES), a Warehouse Management System (WMS), an Enterprise Resource Planning (ERP) system, etc. Each peer device 10_1 to 10_n may obtain the first specified data from the workpiece 20. Or each peer device 10_1 to 10_n may transmit the second specified data to the workpiece 20.

[0037] As Figure 2 shown, the peer-to-peer interaction management system 100 may involve four interaction domains to achieve efficient operation in an automated industrial environment. The four interaction domains may include a data interaction domain, an operation interaction domain, an environment interaction domain, and a security interaction domain. The data interaction domain may involve data management operations related to the interaction, request, provision, storage, etc. of information. The data interaction domain may involve data interaction between multiple peer devices 10_1 to 10_n. The operation interaction domain may involve the management of operation-oriented resources, and the resources may be obtained from workpieces or virtual workpieces. The environment interaction domain may involve physical components, and the physical components may be network devices (devices with network communication capabilities) or other non-network devices (devices without network communication capabilities). That is, through the environment interaction domain, the interaction of peer devices, workpieces, and offline components (such as Figure 5 shown) can be realized. The offline component may refer to a component that permanently or temporarily does not have network / communication capabilities. The security interaction domain may involve operation security without affecting system performance.

[0038] As Figure 3a shown in 3b connection with

[0039] In some embodiments, the schedule data can be shared or requested by a peer device (e.g., sharing the schedule data with other peer devices or requesting the schedule data from a scheduling device) to support automated production planning / decision-making. The schedule data can involve distributed consensus. The operation data can be shared or requested by a peer device to support automated production operation. The monitoring data can be shared or requested by a peer device to provide or determine the parameterized status information and configuration information of a certain device. The security data can be shared or requested by a peer device to provide a secure operation mechanism or ensure the safe operation of the device.

[0040] In some embodiments, in an actual automated industrial environment, the occurrence of faults or anomalies cannot be avoided. Therefore, safe operation is crucial, and the safe operation of the device should be ensured to the greatest extent. For example, the interaction priority of the security data can be set to the highest, and the interaction priority of the security data is greater than the interaction priorities of the schedule data, operation data, and monitoring data. For example, the response priority of the security data can be set to the highest, and the response priority of the security data is greater than the response priorities of the schedule data, operation data, and monitoring data. The order of the interaction priorities / response priorities among the schedule data, operation data, and monitoring data can be set according to actual requirements.

[0041] For example, peer devices 10_1 to 10_n can interact with a specified organizational system or organizational software for schedule data, and the schedule data can form information related to manufacturing execution, warehouse requests, or resource planning. The operation data can include information related to task execution, task perception, or task consensus, etc. The monitoring data can include information such as the status of peer devices, task progress, environmental status, or factory status, configuration parameters, etc.

[0042] In some embodiments, the data interaction can be active or passive. The data can be actively shared by a peer device with another peer device, regardless of whether the other peer device initiates an interaction request. The active data interaction can be performed regularly or triggered based on an event. The passive data interaction requires another peer device to send specific request information to trigger the data interaction. For example, as Figure 3a shown, the first peer device 10_1 can actively interact with the second peer device 10_2 for data. As Figure 3b shown, when the first peer device 10_1 receives an interaction request from the second peer device 10_2, the first peer device 10_1 interacts with the second peer device 10_2 for data.

[0043] In some embodiments, the robot control server can be defined as the core node in the peer-to-peer interaction management system 100, and the autonomous mobile robot can be defined as the agent node in the peer-to-peer interaction management system 100. For example, the core node can request a production plan (planning data) from the MES (workpiece). The core node can allocate operation tasks (operation data) to the agent node. The agent node can periodically interact with one or more other peer devices to exchange robot status information (monitoring data).

[0044] As Figure 4a shown in 4b the figure, during the data interaction process between any two peer devices, one of the two peer devices can be virtualized as a workpiece by the other peer device for interaction. Since peer devices are capable of complex calculations and operations, relatively speaking, the workpiece only provides specific operations / functions. By this way of virtualizing the workpiece, the interaction operation complexity between the two peer devices can be reduced. When the first peer device 10_1 transmits data to the second peer device 10_2, the first peer device 10_1 can be regarded as a virtual workpiece to interact with the second peer device 10_2. For different transmitted data (planning data, operation data, monitoring data), the first peer 10_1 can be regarded as different virtual workpieces accordingly, such as being regarded as a virtual planning workpiece, a virtual operation workpiece, and a virtual monitoring workpiece.

[0045] In some embodiments, when the first peer device 10_1 transmits planning data to the second peer device 10_2, the first peer device 10_1 can be regarded as a virtual planning workpiece to interact with the second peer device 10_2. When the first peer device 10_1 transmits operation data to the second peer device 10_2, the first peer device 10_1 can be regarded as a virtual operation workpiece to interact with the second peer device 10_2. When the first peer device 10_1 transmits monitoring data to the second peer device 10_2, the first peer device 10_1 can be regarded as a virtual monitoring workpiece to interact with the second peer device 10_2.

[0046] In some embodiments, the first peer device 10_1 can be the core node (as Figure 4b shown in Figure 4a the figure) or the agent node (as

[0047] shown in the figure). The agent node can be regarded as a virtual monitoring workpiece to interact with other peer devices. For example, the agent node interacts with any other peer device to exchange dynamic obstacle data (monitoring data) in the room. The core node can interact with the agent node as a virtual planning workpiece. For example, the core node interacts with the agent node for production plan task scheduling (planning data).In some embodiments, the creation of virtual artifacts (virtual planning artifacts, virtual operation artifacts, virtual monitoring artifacts) can reduce the operation complexity in an automated industrial environment. The interaction between multiple peer devices 10_1 to 10_n may involve various types of data. Some of these types of data are irrelevant to certain types of interactions. Therefore, rather than treating the proxy node or the core node as a complex device, it is better to treat them as virtual artifacts corresponding to the required data types.

[0048] In some embodiments, the more detailed the environmental information is, the higher the efficiency of industrial automation operation will be. The environmental information is usually collected, stored, and managed by a central server, which then distributes the environmental information to the remaining peer devices. However, different environmental components may permanently or temporarily lack network / communication capabilities.

[0049] As Figure 5 shown, each peer device 10_1 to 10_n can perform offline interactions with environmental components lacking network capabilities. The first peer device 10_1 can obtain offline interaction data related to the environmental component and share the offline interaction data with the remaining peer devices. For example, the first peer device 10_1 can share the offline interaction data with the second peer device 10_2.

[0050] In some embodiments, the first peer device 10_1 can actively or passively obtain offline interaction data related to the environmental component. For example, the first peer device 10_1 can actively detect the status of the environmental component to obtain offline interaction data related to the environmental component. The first peer device 10_1 can also passively receive offline interaction data related to the environmental component through an intermediate component, such as through a human-machine interface, through its own sensing capabilities, or through other means.

[0051] In some embodiments, the environmental components can include, but are not limited to, an operator 20_1, factory goods 20_2, or an offline peer device 20_3, etc. In an automated industrial environment, when personnel are allowed to be present, the interaction information between the operator 20_1 and the peer devices 10_1 to 10_n needs to be managed. The human-machine interaction may be associated with operation data or monitoring data, depending on the actual offline interaction. Factory goods 20_2 can refer to the goods or items involved in the current processing process. Factory goods 20_2 can be associated with operation data or monitoring data, depending on the actual offline interaction. The offline peer device 20_3 can refer to a peer device that cannot interact with other peer devices for its own data (such as network failure or other failures). The offline peer device 20_3 can be associated with operation data or monitoring data, for example, through offline interaction with an online peer device.

[0052] For example, an autonomous mobile robot (a peer device on the network) can detect factory goods 20_2 (monitoring data) stored on a warehouse shelf (offline interaction), and interact with other peer devices to share the detected information. An autonomous mobile robot (a peer device on the network) can receive interaction instructions (operation data) from an operator through a button or touch panel installed thereon (offline interaction). An autonomous mobile robot (a peer device on the network) can detect another malfunctioning autonomous mobile robot (an offline peer device) blocking a path or road, and can output a warning message (safety data) regarding the blocked path or road.

[0053] In some embodiments, each peer device 10_1 - 10_n should maintain the ability to always access the network to enable data transmission. Offline interaction can be an interaction process between an operator and an autonomous mobile robot. For example, when an autonomous mobile robot (a peer device on the network) needs to pick up goods from a goods area, when the autonomous mobile robot arrives at the location where the goods are located, the autonomous mobile robot waits for the operator to place the goods on the autonomous mobile robot. After the goods are ready, the autonomous mobile robot can move to a designated location. The autonomous mobile robot can share the updated status of the warehouse (operation data) to reflect that the goods have been picked, change the status of the current task (operation data) to confirm that the goods have been picked, and can change its own status (monitoring data) to reflect that the autonomous mobile robot has loaded the goods.

[0054] As Figure 6 shown, the safety data can include at least one of a conflict resolution mechanism, an emergency event resolution mechanism, and a burst task resolution mechanism.

[0055] In some embodiments, the first peer device 10_1 and the second peer device 10_2 can reach a consensus on a conflict resolution mechanism based on the interaction of operation data. For example, the first peer device 10_1 and the second peer device 10_2 are two autonomous mobile robots. The two autonomous mobile robots (peer devices on the network) meet each other on the same path but in opposite directions. The two autonomous mobile robots can decide which one drives left and which one drives right to avoid a head-on collision. For example, they can reach a consensus by interacting with navigation information (operation data).

[0056] In some embodiments, the first peer device 10_1 and the second peer device 10_2 may reach a consensus on an event resolution mechanism based on the interaction of schedule data. For example, an autonomous mobile robot (a peer device on the network) cannot reach the destination location because a certain path is blocked by some goods. The autonomous mobile robot may request another autonomous mobile robot (a peer device on the network) to go to the destination location, and the other autonomous mobile robot may know which path is newly blocked. Thus, other peer devices can take over the failed task or perform safety operation behaviors to ensure the overall safety of the task and complete the task.

[0057] In some embodiments, the first peer device 10_1 and the second peer device 10_2 may reach a consensus on an emergency task resolution mechanism based on the interaction of monitoring data. A peer device can share events related to an emergency state by interacting with other peer devices to monitor data. For example, an autonomous mobile robot (agent node) can convey to a robot control server (core node) the information that its battery power is about to run out (an emergency event), and then the robot control server can change the task plan to adapt to the situation where the robot's battery power is about to run out.

[0058] Figure 7 Schematic diagram of a peer device according to an embodiment of the present application. The peer device 10_i (i ∈ 1, 2,..., n) may be an autonomous mobile robot. The autonomous mobile robot may include a data memory 11, a processor 12, and a control program 13.

[0059] In some embodiments, the memory 11 may be provided in the autonomous mobile robot or may be a separate external memory, such as an SM card (Smart Media Card), an SD card (Secure Digital Memory Card), etc. The memory 11 may include various types of non-volatile computer-readable storage media. For example, the memory 11 may be an internal storage system, such as a flash memory, a random access memory (RAM) for temporarily storing information, and / or a read-only memory (ROM) for permanently storing information. The memory 11 may also be an external storage system, such as a hard disk, a memory card, or other data storage media. The processor 12 may be a central processing unit (CPU), a microprocessor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA), or other data processing chips capable of performing AMR functions.

[0060] The control program 13 can be divided into multiple modules, such as a communication module 101 and a sensing module 102. The modules 101-102 can refer to a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the control program 13 in the autonomous mobile robot. These instruction segments can be executed by the processor 12 to implement the functions provided by the modules 101-102.

[0061] The communication module 101 is used to perform data interaction with another peer device. Among them, the data for interaction can include at least one of planning data, operation data, monitoring data, and security data. Another peer device can be a robot control server or another autonomous mobile robot.

[0062] In some embodiments, the communication module 101 can actively or passively perform data interaction with another peer device.

[0063] The sensing module 102 is used to obtain offline interaction data of environmental components and share the offline interaction data with another peer device. Among them, the environmental components can be devices or components lacking network communication capabilities.

[0064] In some embodiments, the sensing module 102 can actively or passively obtain offline interaction data related to environmental components. For example, the peer device 10_i can actively detect the status of environmental components to obtain offline interaction data related to environmental components. The peer device 10_i can also passively receive offline interaction data related to environmental components through an intermediate component. For example, it can receive offline interaction data related to environmental components through a human-machine interface, through its own sensing capabilities, or through other means.

[0065] In some embodiments, the environmental components can include, but are not limited to, an operator 20_1, factory goods 20_2, or an offline peer device 20_3, etc.

[0066] In the embodiments provided in the present application, it should be understood that the above-described embodiments of the autonomous mobile robot are only illustrative. For example, the above division of modules is only a logical function division, and there can be other division methods in actual implementation.

[0067] In addition, in each embodiment of the present application, each functional module can be integrated in the same processing unit, or each module can exist physically alone, or two or more modules can be integrated in the same unit. The above integrated modules can be implemented in the form of hardware, or in the form of a combination of hardware and software function modules.

[0068] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The words "first", "second", etc. are used to denote names and do not denote any particular order.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A point-to-point interaction management system, characterized in that, Including a plurality of peer devices and a plurality of workpieces, the plurality of peer devices including at least one robot control server and a plurality of autonomous mobile robots, and each of the plurality of workpieces being a device or component having only a specific function / executing a specific operation A first peer device among the plurality of peer devices is used to perform data interaction with a second peer device among the plurality of peer devices, wherein the data for interaction includes at least one of planning data, operation data, monitoring data, and safety data; When the first peer device transmits the data to the second peer device, the first peer device interacts with the second peer device as a virtual workpiece; when the first peer device transmits the planning data to the second peer device, the first peer device interacts with the second peer device as a virtual planning workpiece; when the first peer device transmits the operation data to the second peer device, the first peer device interacts with the second peer device as a virtual operation workpiece; when the first peer device transmits the monitoring data to the second peer device, the first peer device interacts with the second peer device as a virtual monitoring workpiece.

2. The point-to-point interaction management system according to claim 1, characterized in that The interaction priority of the safety data is higher than the interaction priorities of the planning data, the operation data, and the monitoring data; or, the response priority of the safety data is higher than the response priorities of the planning data, the operation data, and the monitoring data.

3. The point-to-point interaction management system according to claim 1, wherein, The first peer device actively performs data interaction with the second peer device.

4. The peer-to-peer interaction management system according to claim 1, wherein When the first peer device receives an interaction request sent by the second peer device, the first peer device performs data interaction with the second peer device.

5. The peer-to-peer interaction management system according to claim 1, wherein Any one of the plurality of peer devices is used to obtain first specified data from the workpiece, or any one of the plurality of peer devices is used to transmit second specified data to the workpiece.

6. The peer-to-peer interaction management system according to claim 1, wherein The first peer device is further used to obtain offline interaction data related to environmental components, where the environmental components are devices or components lacking network communication capabilities, and the first peer device is further used to share the offline interaction data with the remaining peer devices.

7. The peer-to-peer interaction management system according to claim 6, characterized in that, The first peer device is used to actively detect the status of the environmental components to obtain offline interaction data related to the environmental components.

8. The peer-to-peer interaction management system according to claim 6, wherein The first peer device is used to passively receive offline interaction data related to the environmental components through an intermediate component.

9. The peer-to-peer interaction management system according to claim 1, characterized in that, The safety data includes at least one of a conflict resolution mechanism, an emergency event resolution mechanism, and a sudden task resolution mechanism.

10. The peer-to-peer interaction management system according to claim 9, characterized in that, The first peer device and the second peer device reach a consensus on the conflict resolution mechanism through the interaction of the operation data, the first peer device and the second peer device reach a consensus on the emergency event resolution mechanism through the interaction of the monitoring data, and the first peer device and the second peer device reach a consensus on the sudden task resolution mechanism through the interaction of the planning data.

11. An autonomous mobile robot, characterized in that, Including: At least one processor; And A memory adapted to store a plurality of instructions, the instructions being adapted to be executed by the processor: Perform data interaction with a pair of equivalent devices; Among them, the data for interaction includes at least one of planned data, operation data, monitoring data, and safety data, and the peer device is a robot control server or another autonomous mobile robot; When the autonomous mobile robot transmits the data to the peer device, the autonomous mobile robot interacts with the peer device as a virtual workpiece, and the workpiece is a device or component that only has a specific function / executes a specific operation; When the autonomous mobile robot transmits the planned data to the peer device, the autonomous mobile robot interacts with the peer device as a virtual planned workpiece; when the autonomous mobile robot transmits the operation data to the peer device, the autonomous mobile robot interacts with the peer device as a virtual operation workpiece; when the autonomous mobile robot transmits the monitoring data to the peer device, the autonomous mobile robot interacts with the peer device as a virtual monitoring workpiece.

12. The autonomous mobile robot according to claim 11, wherein The interaction priority of the safety data is higher than that of the planned data, the operation data, and the monitoring data; or, the response priority of the safety data is higher than that of the planned data, the operation data, and the monitoring data.

13. The autonomous mobile robot according to claim 11, characterized in that The instruction is suitable for being executed by the processor to perform data interaction with the peer device, including: The autonomous mobile robot actively initiates data interaction with the peer device.

14. The autonomous mobile robot according to claim 11, wherein The instruction is suitable for being executed by the processor to perform data interaction with the peer device, including: When the autonomous mobile robot receives an interaction request sent by the peer device, it performs data interaction with the peer device.

15. The autonomous mobile robot according to claim 11, wherein The instruction is also suitable for being executed by the processor: Passively obtain offline interaction data related to environmental components, where the environmental components are devices or components lacking network communication capabilities; Share the offline interaction data with the peer device.

16. The autonomous mobile robot according to claim 15, characterized in that, The instruction is suitable for being executed by the processor to obtain offline interaction data related to environmental components, including: Actively detect the status of the environmental components to obtain offline interaction data related to the environmental components; or Obtain offline interaction data related to the environmental components through an intermediate component.

17. The autonomous mobile robot according to claim 11, characterized in that, The safety data includes at least one of a conflict resolution mechanism, an emergency event resolution mechanism, and a sudden task resolution mechanism.

18. The autonomous mobile robot according to claim 17, wherein The autonomous mobile robot and the peer device reach a consensus on the conflict resolution mechanism through the interaction of the operation data, the autonomous mobile robot and the peer device reach a consensus on the emergency event resolution mechanism through the interaction of the monitoring data, and the autonomous mobile robot and the peer device reach a consensus on the sudden task resolution mechanism through the interaction of the planned data.

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