Method and system for collaborative control of multiple robots

Abstract

The present invention discloses a method and system for collaborative control of multiple robots, wherein the method for collaborative control of multiple robots includes: obtaining a work task list and corresponding work position information; collecting positioning information of multiple robots in a preset map, and triggering corresponding robots in sequence based on the distance between the work position information and the positioning information; each robot receives the corresponding work task list and retrieves its own work task; monitoring the work progress of each robot, and building a collaborative channel for two robots in two adjacent work areas; recording the work progress based on the collaborative channel, and when the work progress of a robot reaches a preset progress threshold, reallocating the unfinished work area and dividing the work area; marking the work content in different work areas, and adjusting the execution content or execution priority of the robot based on the adjustment of the work content.

Description

Technical Field

[0001] The present invention relates to the field of multi-robot collaboration technology, and in particular to a method and system for collaborative control of multiple robots. Background Art

[0002] With the development of science and technology, there are many collaborative modes for robots. Some are based on work areas, and some are based on work content. They all collaborate with each other along a single logic, and each robot works according to a specific work content. Each robot obtains the work content synchronously. Therefore, the existing robot collaboration mode is the unified deployment of all robots. However, some robots are relatively primitive relative to the work location, and it takes more time to move to the work location, resulting in non-executing robots among all robots that accept the task. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and system for collaborative control of multiple robots. The corresponding robots are triggered in sequence based on the distance between the working position information and the positioning information, and the order of task assignment is adjusted according to the distance. At the same time, the working position information of the task is positioned during the adjustment process of task assignment, so that each robot can select the task and the work location according to its own position, so as to quantitatively control the work of multiple robots and avoid the existence of non-executing robots among all robots that accept the task.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a method for collaborative control of multiple robots, including: obtaining a work task list and corresponding work position information; collecting positioning information of multiple robots in a preset map, and triggering the corresponding robots in sequence based on the distance between the work position information and the positioning information; each robot receives the corresponding work task list and calls its own work task; monitors the work progress of each robot, and builds a collaborative channel for two robots in two adjacent work areas; records the work progress based on the collaborative channel, and when the work progress of one robot reaches a preset progress threshold, reallocates the unfinished work area and divides the work area; marks the work content in different work areas, and adjusts the execution content or execution priority of the robot based on the adjustment of the work content.

[0005] In addition, an embodiment of the present invention further provides a system for collaborative control of multiple robots, and the system for collaborative control of multiple robots includes: an acquisition module: used to acquire a work task list and corresponding work position information; a collection module: used to collect the positioning information of multiple robots in a preset map, and trigger the corresponding robots in sequence based on the distance between the work position information and the positioning information; a task module: used for each robot to receive the corresponding work task list and call up its own work task; a monitoring module: used to monitor the work progress of each robot, and build a collaborative channel for two robots in two adjacent work areas; a progress module: used to record the work progress based on the collaborative channel, and when the work progress of one robot reaches a preset progress threshold, the unfinished work area is reallocated and the work area is divided; an area module: used to mark the work content in different work areas, and adjust the execution content or execution priority of the robot based on the adjustment of the work content.

[0006] In an embodiment of the present invention, through the method in the embodiment of the present invention, the corresponding robots are triggered in sequence based on the distance between the work position information and the positioning information, and the order of task allocation is adjusted according to the distance. At the same time, the work position information of the task is positioned in the process of adjusting the task allocation, so that each robot can select the task and the work location according to its own position, so as to quantitatively control the work of multiple robots. There are non-executing robots among all the robots that accept the task. In addition, two robots in two adjacent work areas build a collaborative channel; based on the collaborative channel, the work progress is recorded. When the work progress of a robot reaches a preset progress threshold, the unfinished work area is reallocated and the work area is divided. At this time, the work area is reallocated at the end of the work progress, so that the two robots in the collaborative channel can adjust their own work content and work area in time, thereby ensuring the work flexibility of the robots in the collaborative channel and enabling the two robots to complete the work at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0008] Figure 1 is a flowchart of a method for collaborative control of multiple robots in an embodiment of the present invention;

[0009] Figure 2is a schematic flow chart of working position information of a method for collaborative control of multiple robots in an embodiment of the present invention;

[0010] Figure 3 is a flow chart of positioning information of a method for collaborative control of multiple robots in an embodiment of the present invention;

[0011] Figure 4 is a flowchart of a work task list of a method for collaborative control of multiple robots in an embodiment of the present invention;

[0012] Figure 5 is a schematic diagram of the structure of a system for collaborative control of multiple robots in an embodiment of the present invention;

[0013] Figure 6 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] Example

[0016] See also Figures 1 to 4 , a method for collaborative control of multiple robots, the method comprising:

[0017] S11: Obtaining a work task list and corresponding work location information;

[0018] In the specific implementation process of the present invention, the specific steps may be:

[0019] S111: Obtaining a list of incoming materials, and performing category screening based on the list of incoming materials to determine various types of products;

[0020] S112: embedding the category classification table into the product storage area map, and associating the category name with the product storage area to extend a category name-product storage area model, wherein the category name-product storage area model is trained based on previous category name data and previous product storage area data;

[0021] S113: inputting the category names of different categories of products into the category name-product storage area model to determine a plurality of areas to be allocated;

[0022] S114: Based on the plurality of areas to be allocated, monitor the inventory space of the corresponding area and determine the corresponding work location information.

[0023] Among them, the incoming materials list is screened by category, and the corresponding product categories are output, so as to facilitate the subsequent output of product storage areas based on product categories. At this time, the category name-product storage area model is used as a learning model to derive the corresponding product storage area based on the category name. The category name-product storage area model is trained based on previous category name data and previous product storage area data, and the learning parameters are retained in the category name-product storage area model. The accuracy of the result output of the category name-product storage area model is triggered by adjusting the learning parameters, and the learning parameters can also be adjusted according to the usage scenario or operation scenario to adapt to the application environment of various robots.

[0024] In addition, the category names of different types of products are input into the category name-product storage area model to determine multiple areas to be allocated, and the inventory space of the corresponding areas is monitored based on the multiple areas to be allocated, and the corresponding work position information is determined to limit the working position of the robot, and the movement trajectory of the robot is adjusted based on the work position information.

[0025] S12: collecting positioning information of multiple robots in a preset map, and triggering corresponding robots in sequence based on the distance between the working position information and the positioning information;

[0026] In the specific implementation process of the present invention, the specific steps may be:

[0027] S121: traversing the preset map, and marking the robot positions of the preset map along the feedback signals of the multiple robots, so as to determine the positioning information of the multiple robots in the preset map;

[0028] S122: determining the distances between the plurality of robots based on the plurality of positioning information, and traversing blank areas in the preset map where no robots exist;

[0029] S123: Check whether the work position information falls into the blank area. If the work position information falls into the blank area, deploy a robot that is closer to the blank area to move to the blank area to ensure that there is at least one robot in the blank area.

[0030] S124: triggering the corresponding robots in sequence based on the distance between the working position information and the positioning information, and triggering the robots one by one outward from the door in the preset map, and ensuring that there is only one robot around the positioning information.

[0031] Among them, the distance between the multiple robots is determined based on the multiple positioning information, and the blank area in the preset map where the robot does not exist is traversed, and the position difference between the product and the robot is determined based on the comparison between the blank area and the working position information, so as to facilitate the adjustment of the position of the robot relative to the blank area, avoid forgetting to execute the product in the blank area, improve the distribution effect of the multiple robots relative to the preset map, so as to fully cover the various areas of the preset map, and selectively adjust the execution area of ​​the robot.

[0032] In addition, if the working position information falls into the blank area, a robot that is closer to the blank area is deployed to move to the blank area to ensure that there is at least one robot in the blank area; based on the distance between the working position information and the positioning information, the corresponding robots are triggered in sequence, and the robots are triggered one by one from the door in the preset map to the outside, and it is ensured that there is only one robot around the positioning information. This makes it easy to adjust the position of the robot and the position of the positioning information, so as to reasonably control multiple robots on the preset map and meet the distribution of robots in various areas.

[0033] S13: Each robot receives the corresponding work task list and retrieves its own work task;

[0034] In the specific implementation process of the present invention, the specific steps may be:

[0035] S131: Each of the robots receives the corresponding work task list in turn, and determines its own work task;

[0036] S132: splitting the work tasks, and storing the products in sequence according to the pressure signal on the storage rack, and the robot regulating the storage force based on the change of the pressure signal;

[0037] S133: If the change in the pressure signal exceeds a preset change threshold, the clamping force of the robot relative to the product is adjusted, and the extension and retraction speed of the robot in the vertical direction is regulated to ensure that the change in the pressure signal next time meets the preset change threshold.

[0038] Among them, the work tasks are split, and the products are stored in sequence in coordination with the pressure signal on the storage rack. The robot adjusts the storage force based on the change of the pressure signal. If the change of the pressure signal exceeds the preset change threshold, the clamping force of the robot relative to the product is adjusted, and the extension and retraction speed of the robot in the vertical direction is adjusted to ensure that the change of the pressure signal meets the preset change threshold next time. At this time, the robot monitors the placement of products, and the clamping force of the robot on the product is fed back to the robot based on the change of the pressure signal, and the extension and retraction speed of the robot in the vertical direction is adjusted to ensure that the change of the pressure signal meets the preset change threshold next time.

[0039] In addition, the robot's picking and placing is controlled by negative feedback from the pressure signal, and the pressure signal is monitored by an external device, which reduces the monitoring integration of the robot and simplifies the robot's picking and placing system. The robot's picking and placing system can adjust the robot's clamping force relative to the product and regulate the robot's extension and retraction speed in the vertical direction to ensure that the next change in the pressure signal meets the preset change threshold.

[0040] S14: monitoring the working progress of each of the robots, and establishing a collaborative channel between two robots in two adjacent working areas;

[0041] In the specific implementation process of the present invention, the specific steps may be: as each of the robots stores its own products, monitor the unstored amount of the products; calculate the unfinished amount of each robot based on the unstored amount of the products, and reversely determine the work progress of each robot; circle two robots in two adjacent work areas in turn, and the two robots compare the work task lists to screen out the overall unfinished tasks, and compare the unstored amount with the unfinished tasks; if the unstored amount is consistent with the unfinished tasks, the unstored amount is used as a new work arrangement to allocate work content to the two robots; build a collaborative channel based on the docking signals of the two robots, and input the latest work content into the collaborative channel respectively; the collaborative channel splits the latest work content, and allocates work based on the action area of ​​the latest work content and the moving routes of the two robots, so as to distribute the latest work content in half, and ensure that the two robots complete the corresponding work content at the same time.

[0042] Among them, the unfinished quantity of each robot is calculated according to the unstocked quantity of the product, and the work progress of each robot is determined in reverse; the two robots in two adjacent work areas are circled in turn, and the two robots compare the work task lists to screen out the overall unfinished tasks, and can compare the overall unfinished tasks with the unfinished quantity to determine the consistency of the data. If the unstocked quantity is consistent with the unfinished tasks, the unstocked quantity is used as a new work arrangement to allocate work content to the two robots, so as to facilitate the robots to reallocate the remaining work content and narrow the progress differences between the robots.

[0043] In addition, work is deployed based on the action area of ​​the latest work content and the moving routes of the two robots, so as to distribute the latest work content in half and ensure that the two robots complete the corresponding work content at the same time.

[0044] S15: recording the work progress based on the collaborative channel, and when the work progress of the robot reaches a preset progress threshold, reallocating the unfinished work area and dividing the work area;

[0045] In the specific implementation process of the present invention, the specific steps include: the collaboration channel sequentially traverses the completed tasks of the two robots and the work progress of the two robots; if the difference in the work progress of the two robots reaches a preset difference threshold, the work efficiency of the robot with a higher work progress is regulated, and the difference in the work progress of the two robots is continuously regulated; when the work progress of one robot reaches a preset progress threshold, the difference regulation mechanism of the work progress of the two robots is released, and the unfinished work areas of the two robots are monitored; the area is reallocated based on the unfinished work area, and the moving range of the two robots is further limited; the robots operate within the limited moving range and divide the work area; and the remaining work tasks are coordinated based on the divided work area.

[0046] S16: marking the work contents in different work areas, and adjusting the execution content or execution priority of the robot based on the adjustment of the work contents.

[0047] In the specific implementation process of the present invention, the specific steps include: marking the work content in different work areas and determining the work content corresponding to the robot; adjusting the execution content of the robot based on the work content, and regulating the priority according to the importance of the execution content; regulating the execution order of the execution content according to different priorities, and the two robots interact with each other in execution content.

[0048] The method for collaborative control of multiple robots also includes: obtaining separate moving routes of multiple robots, and forming corresponding moving routes into moving areas; piecing together multiple moving areas, and regulating the blank area between two adjacent moving areas; adjusting the extension of the moving area based on the segmentation of the blank area to limit the blank area; comparing a first map after piecing together multiple moving areas with a preset map, and completing comprehensive coverage of the first map and the preset map to determine that the multiple robots move within their respective moving areas and complete the movement consideration of the preset map.

[0049] In an embodiment of the present invention, through the method in the embodiment of the present invention, the corresponding robots are triggered in sequence based on the distance between the work position information and the positioning information, and the order of task allocation is adjusted according to the distance. At the same time, the work position information of the task is positioned in the process of adjusting the task allocation, so that each robot can select the task and the work location according to its own position, so as to quantitatively control the work of multiple robots. There are non-executing robots among all the robots that accept the task. In addition, two robots in two adjacent work areas build a collaborative channel; based on the collaborative channel, the work progress is recorded. When the work progress of a robot reaches a preset progress threshold, the unfinished work area is reallocated and the work area is divided. At this time, the work area is reallocated at the end of the work progress, so that the two robots in the collaborative channel can adjust their own work content and work area in time, thereby ensuring the work flexibility of the robots in the collaborative channel and enabling the two robots to complete the work at the same time.

[0050] Example

[0051] See also Figure 5 , Figure 5 It is a schematic diagram of the structural composition of a system for collaborative control of multiple robots in an embodiment of the present invention.

[0052] like Figure 5 As shown, a system for collaborative control of multiple robots, the system for collaborative control of multiple robots comprising:

[0053] Acquisition module 21: used to obtain a work task list and corresponding work location information;

[0054] The acquisition module 22 is used to acquire the location information of multiple robots in a preset map, and trigger the corresponding robots in sequence based on the distance between the working position information and the location information;

[0055] Task module 23: used for each robot to receive the corresponding work task list and retrieve its own work task;

[0056] Monitoring module 24: used to monitor the working progress of each robot and build a collaborative channel for two robots in two adjacent working areas;

[0057] Progress module 25: used to record the work progress based on the collaboration channel, and when the work progress of the robot reaches a preset progress threshold, the unfinished work area is reallocated and the work area is divided;

[0058] Area module 26: used to mark the work content in different work areas, and adjust the execution content or execution priority of the robot based on the adjustment of the work content.

[0059] The present invention provides a method and system for collaborative control of multiple robots. The corresponding robots are triggered in sequence based on the distance between work position information and positioning information, and the order of task allocation is adjusted according to the distance. At the same time, the work position information of the task is positioned during the adjustment process of task allocation, so that each robot can select a task and a work location according to its own position, so as to quantitatively control the work of multiple robots. There are non-executing robots among all robots that accept tasks. In addition, two robots in two adjacent work areas are constructed into a collaborative channel; the work progress is recorded based on the collaborative channel. When the work progress of a robot reaches a preset progress threshold, the unfinished work area is reallocated, and the work area is divided. At this time, the work area is reallocated at the end of the work progress, so that the two robots in the collaborative channel can adjust their own work content and work area in time, thereby ensuring the work flexibility of the robots in the collaborative channel and enabling the two robots to complete the work at the same time.

[0060] Example

[0061] See also Figure 6 , refer to the following Figure 6 The electronic device 40 according to this embodiment of the present invention will be described. Figure 6 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0062] like Figure 6 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0063] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0064] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0065] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0066] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0067] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 45. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 46. Figure 6 As shown, the network adapter 46 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0068] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0069] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0070] In addition, the method and system for collaborative control of multiple robots provided in the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for collaborative control of multiple robots, It is characterized in that include: Get the work task list and corresponding work location information; Collecting positioning information of multiple robots in a preset map, and triggering corresponding robots in sequence based on the distance between the working position information and the positioning information; Each of the robots receives the corresponding work task list and retrieves its own work task; Monitor the working progress of each of the robots, and build a collaborative channel for two robots in two adjacent working areas; The work progress is recorded based on the collaborative channel, and when the work progress of the robot reaches a preset progress threshold, the unfinished work area is reallocated and the work area is divided; Marking work contents in different work areas, and adjusting the execution content or execution priority of the robot based on the adjustment of the work contents; obtaining the work task list and the corresponding work position information, including: Obtaining a list of incoming materials, and performing category screening based on the list of incoming materials to determine various types of products; Embed the category classification table into the product storage area map, and associate the category name with the product storage area to extend the category name-product storage area model, wherein the category name-product storage area model is trained based on previous category name data and previous product storage area data; Inputting the category names of different categories of products into the category name-product storage area model to determine a plurality of areas to be allocated; Based on the plurality of areas to be allocated, the inventory space of the corresponding area is monitored, and the corresponding work position information is determined.

2. The method for collaborative control of multiple robots according to claim 1, It is characterized in that The collecting of the positioning information of the plurality of robots in the preset map and sequentially triggering the corresponding robots based on the distance between the working position information and the positioning information comprises: Traversing the preset map, and marking the robot positions of the preset map along the feedback signals of the multiple robots, so as to determine the positioning information of the multiple robots in the preset map; Determine the distances between the plurality of robots based on the plurality of positioning information, and traverse a blank area in the preset map where no robot exists; Checking whether the work position information falls into the blank area, if the work position information falls into the blank area, deploying a robot that is closer to the blank area to move to the blank area, so as to ensure that there is at least one robot in the blank area; The corresponding robots are triggered in sequence based on the distance between the working position information and the positioning information, and the robots are triggered one by one outward from the door in the preset map, and it is ensured that there is only one robot around the positioning information.

3. The method for collaborative control of multiple robots according to claim 2, It is characterized in that Each of the robots receives the corresponding work task list and retrieves its own work task, including: Each of the robots receives the corresponding work task list in turn and determines its own work task; The work tasks are split, and the products are stored in sequence in accordance with the pressure signals on the storage racks, and the robot regulates the storage force based on the change in the pressure signals; If the change in the pressure signal exceeds a preset change threshold, the clamping force of the robot relative to the product is adjusted, and the extension and retraction speed of the robot in the vertical direction is regulated to ensure that the next change in the pressure signal meets the preset change threshold.

4. The method for collaborative control of multiple robots according to claim 3, It is characterized in that The monitoring of the working progress of each robot and establishing a collaborative channel between two robots in two adjacent working areas includes: As each of the robots deposits a respective product, monitoring the amount of the product that has not been deposited; Calculate the unfinished quantity of each robot according to the unstored quantity of the product, and reversely determine the working progress of each robot; Two robots in two adjacent work areas are sequentially demarcated, and the two robots compare the work task lists to screen out overall unfinished tasks, and compare the unstored amount with the unfinished tasks; If the unstocked amount is consistent with the unfinished task, the unstocked amount is used as a new work arrangement to allocate work content to the two robots; Building a collaborative channel based on the docking signals of the two robots, and inputting the latest work contents into the collaborative channel respectively; The collaborative channel splits the latest work content, and allocates work based on the latest work content's action area and the moving routes of the two robots, so as to distribute the latest work content in half and ensure that the two robots complete the corresponding work content at the same time.

5. The method for collaborative control of multiple robots according to claim 4, It is characterized in that The recording of the work progress based on the collaborative channel, when the work progress of the robot reaches a preset progress threshold, reallocating the unfinished work area and dividing the work area, includes: The collaboration channel sequentially traverses the completed tasks of the two robots and the work progress of the two robots; If the difference in the work progress of the two robots reaches a preset difference threshold, the work efficiency of the robot with the higher work progress is regulated, and the difference in the work progress of the two robots is continuously regulated; When the work progress of one of the robots reaches a preset progress threshold, the difference control mechanism of the work progress of the two robots is released, and the unfinished work areas of the two robots are monitored; Redistributing the area based on the unfinished work area, and further limiting the movement range of the two robots; The robot operates within the limited moving range and divides the working area; Coordinate the remaining work tasks based on the divided work areas.

6. The method for collaborative control of multiple robots according to claim 5, It is characterized in that The marking of work contents in different work areas and adjusting the execution content or execution priority of the robot based on the adjustment of the work contents include: Mark the work content in different work areas and determine the work content corresponding to the robot; Adjust the execution content of the robot based on the work content, and adjust the priority according to the importance of the execution content; The execution order of the execution contents is regulated according to different priorities, and the two robots interact with each other in executing the contents.

7. The method for collaborative control of multiple robots according to claim 6, It is characterized in that The method for collaborative control of multiple robots further includes: Acquire individual movement routes of a plurality of robots, and form corresponding movement routes into movement areas; Piecing together a plurality of the moving areas, and regulating the blank area between two adjacent moving areas; adjusting the extension of the moving area based on the segmentation of the blank area to constrict the blank area; The first map formed by piecing together the plurality of movement areas is compared with the preset map, and the first map and the preset map are fully covered to determine that the plurality of robots move within their respective movement areas and complete the movement consideration of the preset map.

8. A system for collaborative control of multiple robots, It is characterized in that The system for collaborative control of multiple robots comprises: Acquisition module: used to obtain the work task list and corresponding work location information; A collection module: used to collect the positioning information of multiple robots in a preset map, and trigger the corresponding robots in sequence based on the distance between the working position information and the positioning information; Task module: used for each robot to receive the corresponding work task list and retrieve its own work task; Monitoring module: used to monitor the working progress of each robot and build a collaborative channel for two robots in two adjacent working areas; Progress module: used to record the work progress based on the collaboration channel, and when the work progress of the robot reaches a preset progress threshold, the unfinished work area is reallocated and the work area is divided; Area module: used to mark the work content in different work areas, and adjust the execution content or execution priority of the robot based on the adjustment of the work content; The obtaining of the work task list and the corresponding work location information includes: Obtaining a list of incoming materials, and performing category screening based on the list of incoming materials to determine various types of products; Embed the category classification table into the product storage area map, and associate the category name with the product storage area to extend the category name-product storage area model, wherein the category name-product storage area model is trained based on previous category name data and previous product storage area data; Inputting the category names of different categories of products into the category name-product storage area model to determine a plurality of areas to be allocated; Based on the plurality of areas to be allocated, the inventory space of the corresponding area is monitored, and the corresponding work position information is determined.

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