Multi-machine coordination method, dispatching equipment and multi-machine coordination system

Abstract

This specification relates to the field of autonomous robot technology, and provides a multi-machine collaboration method, a dispatching device, and a multi-machine collaboration system. The multi-machine collaboration method includes: when a first autonomous robot detects an abnormal condition during operation, confirming whether it can independently handle the abnormal condition; when it cannot independently handle the abnormal condition, the first autonomous robot sends an assistance request to other devices in the Internet of Things where it is located. This specification can realize multi-machine collaborative operations between autonomous robots or between autonomous robots and other devices.

Description

Technical Field

[0001] This specification relates to the field of autonomous robot technology, and in particular to a multi-machine collaboration method, scheduling equipment, and a multi-machine collaboration system. Background Art

[0002] Autonomous robots (such as smart lawn mowers) can generally complete certain tasks independently. However, in some cases, some tasks are difficult for a single autonomous robot to complete independently. Therefore, how to achieve multi-robot collaborative operation to complete tasks that are difficult for a single autonomous robot to complete independently has become a pressing technical challenge. Summary of the Invention

[0003] The purpose of the embodiments of this specification is to provide a multi-machine collaboration method, scheduling equipment and multi-machine collaboration system to achieve multi-machine collaborative operations between autonomous robots or between autonomous robots and other equipment.

[0004] To achieve the above objectives, on the one hand, an embodiment of this specification provides a multi-machine collaboration method, including:

[0005] At the first autonomous robot:

[0006] When an abnormal condition is detected during operation on the ground within the working area, the abnormal condition refers to an unexpected condition in the operation of the first autonomous robot, a working strategy required to eliminate the abnormal condition is determined, and based on the working strategy and the type of work that the first autonomous robot can handle by itself, it is judged whether the abnormal condition can be handled independently; when it cannot be handled independently, the first autonomous robot sends an assistance request to other devices in the Internet of Things where it is located.

[0007] The aforementioned abnormal conditions include abnormal objects, which are generally unexpected objects. For example, when a machine or device uses an ultrasonic sensor, the detection height is pre-set. If an object in front of the machine exceeds the detection height during operation, it is considered an abnormal object. Similarly, when using a visual sensor, if an unexpected object appears in the image that is not a previously learned object, it is considered an abnormal object.

[0008] Optionally, the first autonomous robot is an autonomous robot with a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where it is located, including: the first autonomous robot receives status information of other devices, and determines whether there is a second autonomous robot in the Internet of Things that can independently handle the abnormal situation based on the status information; when there is a second autonomous robot in the Internet of Things that can independently handle the abnormal situation, the first autonomous robot sends a scheduling instruction to the second autonomous robot, and the scheduling instruction includes a scheduling path for the second autonomous robot to reach a specified location, so that the second autonomous robot reaches the specified location according to the scheduling instruction to handle the abnormal situation.

[0009] Optionally, the method further comprises: the first autonomous robot receiving a processed signal sent by the second autonomous robot, the processed signal being sent by the second autonomous robot after processing the abnormal condition;

[0010] The first autonomous robot sends a return instruction to the second autonomous robot, and the return instruction includes a return path for the second autonomous robot to return to the position before processing the abnormal condition, so that the second autonomous robot returns to the position before processing the abnormal condition according to the return instruction to continue to perform the interrupted work of the second autonomous robot.

[0011] Optionally, the method also includes: when the waiting time after the first autonomous robot sends a scheduling instruction to the second autonomous robot reaches a preset waiting time, or when the first autonomous robot receives a reply signal fed back by the second autonomous robot, the first autonomous robot moves away from the target position when the abnormal condition is detected and continues to perform its own operation.

[0012] Optionally, the method further includes: when the first autonomous robot receives the processed signal sent by the second autonomous robot, the first autonomous robot returns to the target position at a specified time and performs operations on the target position or an area within a preset range of the target position.

[0013] Optionally, the step of determining whether there is a second autonomous robot in the Internet of Things that can independently handle the abnormal situation based on the status information includes:

[0014] The first autonomous robot determines, based on the state information, whether there is an autonomous robot in other equipment that can perform a work type that matches the work type of eliminating the abnormal condition or has a functional component that matches the functional component of eliminating the abnormal condition, and if the result is yes, determines that the autonomous robot meets the assistance condition;

[0015] If there is only one autonomous robot that meets the assistance condition, determining the autonomous robot that meets the assistance condition as the second autonomous robot;

[0016] If there are multiple autonomous robots that meet the assistance condition, one autonomous robot is selected from the multiple autonomous robots that meet the assistance condition according to a first screening rule as the second autonomous robot.

[0017] Optionally, the method also includes: when there is no second autonomous robot in the Internet of Things that can independently handle the abnormal condition, the first autonomous robot retrieves the pre-stored position information of the work head station and the work head list of the work head station, wherein the work head station has multiple work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identifier, or each work head is provided with a work head identifier, and the work head identifier includes information on the work head type or the type of work that the work head can perform; when there is a work head in the work head list that can eliminate the abnormal condition, an autonomous robot that can identify the work head identifier is selected from the other devices according to the feedback status information, and a replacement instruction is sent to the autonomous robot, the replacement instruction includes the return path of the autonomous robot to the work head station and the work head identifier of the work head that can eliminate the abnormal condition, and the autonomous robot replaces the work head that can eliminate the abnormal condition according to the replacement instruction.

[0018] Optionally, the first autonomous robot is an autonomous robot with a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where the first autonomous robot is located, including: when there is no second autonomous robot in the Internet of Things that can independently handle the abnormal situation, the first autonomous robot selects an autonomous robot from the other devices and controls the autonomous robot to replace the working head that can independently handle the abnormal situation; or, when there is no second autonomous robot in the Internet of Things that can independently handle the abnormal situation, the first autonomous robot itself replaces the working head that can independently handle the abnormal situation.

[0019] Optionally, the first autonomous robot is an autonomous robot with a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where it is located, including: the first autonomous robot receives status information of other devices, and determines whether there is a third autonomous robot in the Internet of Things that can assist in handling the abnormal situation based on the status information; when there is a third autonomous robot in the Internet of Things that can collaboratively handle the abnormal situation, the first autonomous robot sends a scheduling instruction to the third autonomous robot, and the scheduling instruction includes a scheduling path for the third autonomous robot to reach a specified location, so that the third autonomous robot arrives at the specified location according to the scheduling instruction, so as to collaboratively handle the abnormal situation with the third autonomous robot.

[0020] Optionally, the collaborative processing of the abnormal situation with the third autonomous robot includes: the first autonomous robot sends an action instruction to the third autonomous robot; when the first autonomous robot receives the confirmation information returned by the third autonomous robot in response to the action instruction, the first autonomous robot and the third autonomous robot perform the action corresponding to the action instruction according to the action instruction, so as to achieve collaborative processing of the abnormal situation by both.

[0021] Optionally, the method also includes: when there is no third autonomous robot in the Internet of Things that can collaboratively handle the abnormal situation, the first autonomous robot retrieves the pre-stored location information of the work head station and the work head list of the work head station, wherein the work head station has multiple work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identifier, or each work head is provided with a work head identifier, and the work head identifier includes information on the work head type or the type of work that the work head can perform; when there is a work head in the work head list that can assist in handling the abnormal situation, an autonomous robot that can identify the work head identifier is selected from the other devices based on the feedback status information, and a replacement instruction is sent to the autonomous robot, the replacement instruction including the return path of the autonomous robot to the work head station and the work head identifier of the work head that can assist in handling the abnormal situation, and the autonomous robot goes to the work head station according to the replacement instruction to replace the work head that can assist in handling the abnormal situation.

[0022] Optionally, the first autonomous robot is an autonomous robot without a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where it is located, including: the first autonomous robot sends an assistance request to an autonomous robot with a scheduling function or a scheduling system, so that the autonomous robot with a scheduling function or the scheduling system determines a processing strategy corresponding to the abnormal condition according to the assistance request; when the processing strategy is an independent processing strategy, the second autonomous robot that can independently handle the abnormal condition is scheduled according to the independent processing strategy; when the processing strategy is a collaborative processing strategy, the third autonomous robot that can collaboratively handle the abnormal condition is scheduled according to the collaborative processing strategy.

[0023] Optionally, the first autonomous robot is an autonomous robot with a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where the first autonomous robot is located, including:

[0024] When there is no third autonomous robot in the Internet of Things that can collaboratively handle the abnormal situation, the first autonomous robot selects one or more autonomous robots from the other devices and controls the autonomous robots to replace the working heads that can collaboratively handle the abnormal situation.

[0025] Optionally, the first autonomous robot is an autonomous robot without a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where the first autonomous robot is located, including:

[0026] The first autonomous robot sends an assistance request to an autonomous robot with a scheduling function or a scheduling system, so that the autonomous robot with a scheduling function or the scheduling system schedules a second autonomous robot that can independently handle the abnormal situation according to the assistance request.

[0027] Optionally, the first autonomous robot is an autonomous robot without a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where the first autonomous robot is located, including:

[0028] The first autonomous robot sends an assistance request to an autonomous robot with a scheduling function or a scheduling system, so that the autonomous robot with a scheduling function or the scheduling system schedules a third autonomous robot that can collaboratively handle the abnormal situation according to the assistance request.

[0029] Optionally, when the first autonomous robot detects an abnormal condition during operation, it confirms whether it can independently handle the abnormal condition, including: the first autonomous robot monitors the surrounding environment during operation; if an abnormal condition is detected in the surrounding environment, the first autonomous robot collects information about the abnormal condition, and based on the information about the abnormal condition, determines whether the abnormal condition affects the normal operation of the first autonomous robot, so as to determine whether the abnormal condition needs to be handled; if it needs to be handled, the first autonomous robot executes a work strategy required to determine the elimination of the abnormal condition, and based on the work strategy and the type of work that the first autonomous robot itself can handle, determines whether it can independently handle the abnormal condition.

[0030] Optionally, when the first autonomous robot detects an abnormal situation during operation, determining whether the abnormal situation can be handled independently includes:

[0031] The first autonomous robot monitors its surroundings during operation;

[0032] If an abnormal condition is detected in the surrounding environment, the first autonomous robot determines whether the abnormal condition needs to be handled;

[0033] If processing is required, the first autonomous robot determines whether it can independently process the abnormal situation.

[0034] Optionally, the confirming whether the abnormal situation can be handled independently includes:

[0035] If the first autonomous robot can handle the abnormal situation by replacing a working head or can avoid the abnormal situation by taking a detour, the first autonomous robot confirms that it can handle the abnormal situation independently.

[0036] Optionally, the method further includes:

[0037] When the first autonomous robot is able to handle the abnormal situation by replacing the working head, the working head is replaced again to continue the previously interrupted work.

[0038] Optionally, when the other device includes an autonomous robot, the first autonomous robot sends the assistance request via a v2v communication protocol.

[0039] On the other hand, an embodiment of this specification also provides a multi-machine collaboration method, including: receiving an assistance request sent by a first autonomous robot; the assistance request is sent by the first autonomous robot when it is performing operations on the ground within the working area and detects an abnormal situation during the operation and confirms that it cannot be handled independently; sending scheduling instructions to other devices in the Internet of Things based on the assistance request to handle the abnormal situation.

[0040] Optionally, sending a dispatch instruction to other devices in the Internet of Things according to the assistance request includes:

[0041] receiving status information of other devices, and determining, based on the status information, whether there is a second autonomous robot in the Internet of Things that can independently handle the abnormal situation;

[0042] When a second autonomous robot capable of independently handling abnormal conditions exists within the Internet of Things, a dispatch instruction is sent to the second autonomous robot, the dispatch instruction including a dispatch path for the second autonomous robot to reach a designated location, so that the second autonomous robot reaches the designated location according to the dispatch instruction to handle the abnormal condition;

[0043] When there is no second autonomous robot in the Internet of Things that can independently handle abnormal conditions, the pre-stored position information of the work head station and the work head list of the work head station are retrieved, wherein the work head station has multiple work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identifier, or each work head is provided with a work head identifier, and the work head identifier includes information on the work head type or the type of work that the work head can perform; when there is a work head in the work head list that can eliminate the abnormal condition, an autonomous robot that can identify the work head identifier is selected from the other devices based on the feedback status information, and a replacement instruction is sent to the autonomous robot, wherein the replacement instruction includes the return path of the autonomous robot to the work head station and the work head identifier of the work head that can eliminate the abnormal condition, and the autonomous robot replaces the work head that can eliminate the abnormal condition according to the replacement instruction.

[0044] Optionally, sending a dispatch instruction to other devices in the Internet of Things according to the assistance request includes:

[0045] receiving status information of other devices, and determining, based on the status information, whether there is a third autonomous robot in the Internet of Things that can assist in handling the abnormal situation;

[0046] When there is a third autonomous robot in the Internet of Things that can collaboratively handle the abnormal situation, sending a dispatch instruction to the third autonomous robot, the dispatch instruction including a dispatch path for the third autonomous robot to reach a specified location, so that the third autonomous robot arrives at the specified location according to the dispatch instruction, so as to collaboratively handle the abnormal situation with the third autonomous robot;

[0047] When there is no third autonomous robot in the Internet of Things that can collaboratively handle abnormal conditions, the pre-stored location information of the work head station and the work head list of the work head station are retrieved, wherein the work head station has multiple work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identifier, or each work head is provided with a work head identifier, and the work head identifier includes information on the work head type or the type of work that the work head can perform; when there is a work head that can assist in the abnormal condition in the work head list, an autonomous robot that can identify the work head identifier is selected from the other devices based on the feedback status information, and a replacement instruction is sent to the autonomous robot, wherein the replacement instruction includes the return path of the autonomous robot to the work head station and the work head identifier of the work head that can assist in handling the abnormal condition, and the autonomous robot goes to the work head station according to the replacement instruction to replace the work head that can assist in handling the abnormal condition.

[0048] Optionally, the method further includes: during the collaborative processing, according to the action corresponding to the abnormal condition, simultaneously sending action instructions corresponding to the action to the first autonomous robot and the third autonomous robot, so as to control the synchronization of the actions of the first autonomous robot and the third autonomous robot; when there are multiple actions, sending each action instruction in sequence according to the order of execution of the action corresponding to the abnormal condition, and after receiving the first autonomous robot and the third autonomous robot executing the action corresponding to one action instruction, sending the next action instruction; or, selecting one from the first autonomous robot and the third autonomous robot as the master robot, and the master robot sending action instructions corresponding to the action to the first autonomous robot and the third autonomous robot simultaneously according to the action corresponding to the abnormal condition, so as to control the synchronization of the actions of the two.

[0049] Optionally, the method further includes: pre-recording the positions of the first autonomous robot and the third autonomous robot before they processed the abnormal condition, and after receiving the collaborative processing completion signal of the third autonomous robot and the first autonomous robot on the feedback of the abnormal condition, sending a first return instruction to the first autonomous robot and a third return instruction to the third autonomous robot respectively, the first return instruction including the first autonomous robot returning to the position before it processed the abnormal condition; the third return instruction including the third autonomous robot returning to the position before it processed the abnormal condition; so that the first autonomous robot and the third autonomous robot each return to their positions before processing the abnormal condition according to the first return instruction and the third return instruction, so that the first autonomous robot and the third autonomous robot can respectively perform their respective interrupted tasks.

[0050] Optionally, the first autonomous robot is an autonomous robot without a scheduling function; and sending a scheduling instruction to other devices in the Internet of Things according to the assistance request includes:

[0051] When a second autonomous robot capable of independently handling abnormal conditions exists within the Internet of Things, dispatching the second autonomous robot to a designated location so that the second autonomous robot can handle the abnormal conditions;

[0052] When there is no second autonomous robot in the Internet of Things that can independently handle abnormal conditions, an autonomous robot is selected from the other devices and the autonomous robot is controlled to replace a working head that can independently handle the abnormal conditions; or, the first autonomous robot is controlled to replace a working head that can independently handle the abnormal conditions.

[0053] Optionally, the first autonomous robot is an autonomous robot without a scheduling function; and sending a scheduling instruction to other devices in the Internet of Things according to the assistance request includes:

[0054] When there is a third autonomous robot in the Internet of Things that can collaboratively handle the abnormal situation, dispatching the third autonomous robot to a designated location so that the third autonomous robot and the first autonomous robot can collaboratively handle the abnormal situation;

[0055] When there is no third autonomous robot in the Internet of Things that can collaboratively handle abnormal conditions, an autonomous robot is selected from the other devices and controlled to replace a working head that can collaboratively handle the abnormal conditions to serve as the third autonomous robot.

[0056] Optionally, the method further includes:

[0057] During the collaborative processing, the synchronization of the movements of the first autonomous robot and the third autonomous robot is controlled; or, one of the first autonomous robot and the third autonomous robot is selected as a master robot, and the master robot controls the synchronization of the movements of the two robots.

[0058] Optionally, the method further includes:

[0059] After the third autonomous robot and the first autonomous robot have completed the collaborative processing of the abnormal situation, the first autonomous robot and the third autonomous robot are controlled to return to their respective positions before processing the abnormal situation, so that the first autonomous robot and the third autonomous robot can respectively perform their respective interrupted operations.

[0060] On the other hand, an embodiment of this specification further provides a scheduling device, including a memory, a processor, and a computer program stored in the memory, wherein the computer program executes instructions of the above method when executed by the processor.

[0061] On the other hand, an embodiment of this specification also provides a multi-machine collaborative system, including multiple autonomous robots, which are interconnected to form an Internet of Things, wherein each autonomous robot in the Internet of Things realizes multi-machine collaboration according to the above method.

[0062] Optionally, one of the multiple autonomous robots has a scheduling function, and the other autonomous robots accept the scheduling of the autonomous robot with the scheduling function to achieve multi-machine collaboration.

[0063] Optionally, a scheduling system is also included, and multiple autonomous robots are connected to the scheduling system and accept scheduling from the scheduling system.

[0064] Optionally, the dispatching system is a local control center or a cloud control center.

[0065] It can be seen from the technical solutions provided in the above embodiments of this specification that in the embodiments of this specification, when the first autonomous robot encounters an abnormal situation that cannot be handled independently during operation (such as abnormal objects, abnormal environments, etc.), it can send an assistance request to other devices in the Internet of Things where it is located to handle the abnormal situation; thereby realizing multi-machine collaborative operation between autonomous robots, or between autonomous robots and other devices, and thereby improving the operating performance of the autonomous robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings:

[0067] Figure 1 Schematic diagrams showing the appearance of autonomous robots in some embodiments of this specification;

[0068] Figure 2 A flowchart of a multi-machine collaboration method of a first autonomous robot in some embodiments of this specification is shown;

[0069] Figure 3 A flowchart showing a multi-machine collaboration method of autonomous robots in other embodiments of this specification is shown;

[0070] Figure 4A schematic diagram of an autonomous robot A replacing a working head in an embodiment of the present specification is shown;

[0071] Figure 5 A schematic diagram showing an autonomous robot A requesting assistance from multiple autonomous robots based on a V2V communication protocol in an embodiment of this specification is shown;

[0072] Figure 6 FIG2 shows a schematic diagram of an autonomous robot B assisting in processing a work object in an embodiment of the present specification;

[0073] Figure 7 A schematic diagram showing an autonomous robot B assisting in processing a work object after replacing a work head in an embodiment of the present specification is shown;

[0074] Figure 8 A schematic diagram showing an autonomous robot A requesting assistance from multiple autonomous robots through a scheduling system in an embodiment of this specification is shown;

[0075] Figure 9 A schematic diagram showing an embodiment of the present invention in which autonomous robots A and B collaborate to process an abnormal object is shown;

[0076] Figure 10 It shows a multi-machine collaborative interaction flow chart in one embodiment of this specification;

[0077] Figure 11 A schematic diagram of a ring house intelligent system in an embodiment of this specification is shown;

[0078] Figure 12 It shows a structural block diagram of the scheduling device in some other embodiments of this specification.

[0079] [Description of Reference Numerals]

[0080] 100. Autonomous robots;

[0081] 200. Work area;

[0082] 300. Abnormal objects;

[0083] 1200, dispatching equipment;

[0084] 1204, processor;

[0085] 1206. Memory;

[0086] 1208, driving mechanism;

[0087] 1210, input / output interface;

[0088] 1212. Input device;

[0089] 1214. Output device;

[0090] 1216. Presentation equipment;

[0091] 1218. Graphical User Interface;

[0092] 1220, network interface;

[0093] 1222, communication link;

[0094] 1224, communication bus; DETAILED DESCRIPTION

[0095] To help those skilled in the art better understand the technical solutions in this specification, the following will provide a clear and complete description of the technical solutions in the embodiments of this specification, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. All other embodiments derived by those skilled in the art based on the embodiments in this specification without creative effort shall fall within the scope of protection of this specification.

[0096] refer to Figure 1 As shown, the autonomous robot 100 (or self-moving robot, intelligent robot) of some embodiments of this specification is a robot that has various necessary sensors and control devices on its body, and can independently complete certain tasks without external human information input and control during operation. That is, the autonomous robot 100 can move autonomously within the work area 200 and perform work tasks. Generally, a typical autonomous robot 100 may include a body, a walking device, a work execution device (or a work head), and a control device. Among them, the walking device can support the body and can drive the autonomous robot to move on the work surface; the work execution device can be used to be installed on the body and can perform work tasks in the work area; the control device can control the walking device and the work execution device.

[0097] Those skilled in the art will understand that an autonomous robot can be understood as a device that performs specific functions with the help of necessary hardware devices and / or software programs such as controllers and functional components. For example, it can be an intelligent lawn mower that performs the function of mowing the lawn, or a window closer that performs the function of closing the window, etc. This application does not impose any specific restrictions on this.

[0098] In some exemplary embodiments of the present specification, the autonomous robot 100 may include but is not limited to an intelligent lawn mower, an automatic cleaning device, an automatic watering device, or an automatic snow blower.

[0099] In some embodiments of the present specification, some autonomous robots can perform work tasks according to pre-planned walking paths (for example, a bow-shaped path, a U-shaped path, etc.). The walking path can be planned in advance based on information such as the outline of the working area and the distribution of obstacles in the working area. However, due to some reasons (such as the appearance of abnormal environments, unexpected objects, etc. in the working area after the planned walking path), the autonomous robot may still find that some work tasks are difficult for a single autonomous robot to complete independently when performing work tasks. However, given that currently autonomous robots generally work independently, how to achieve multi-machine collaboration between autonomous robots (or between autonomous robots and other equipment) to complete work tasks that are difficult for a single autonomous robot to complete independently has become a technical problem that needs to be solved urgently.

[0100] In view of this, the embodiments of this specification provide multi-machine collaborative technologies, which can be applied to multi-machine collaborative operations between autonomous robots and between autonomous robots and other devices (such as scheduling systems, robots with scheduling functions, and other scheduling devices). Among them, the scheduling system can be a cloud scheduling system or a local scheduling system. Among them, the local scheduling system can be, for example, an autonomous robot base or charging station equipped with scheduling functions. The multi-machine collaborative technology is described in detail below in conjunction with the embodiments of this specification.

[0101] In one embodiment, there is a scheduling device in the Internet of Things, such as a scheduling robot or a scheduling system. Taking the scheduling system as an example, each device in the Internet of Things will establish a connection with the scheduling system. After the connection is established, it will report its own location to the scheduling system at regular intervals. The scheduling system will determine the distance between these machines and the first autonomous robot based on the location reported by the machine; in addition, all machines that can be connected to the scheduling system will set their parameters (such as the work that can be completed) in the scheduling system before formal operation. The scheduling system can determine which machines can assist A in work based on these parameters.

[0102] Those skilled in the art will understand that the terms "collaboration" and "co-processing" mentioned in the embodiments of this specification may refer to the synchronization of the actions of two or more autonomous robots when performing the same task. For example, if the action instruction set of a task may include individual small actions such as lowering, grasping, lifting, and transporting, then two or more autonomous robots can synchronize their actions when performing each small action. It should also be noted that the processing strategy for collaborative processing can be pre-configured or can be determined autonomously by the autonomous robots or the scheduling system based on a preset algorithm.

[0103] Specifically, when collaboratively processing abnormal objects, information interaction is required. This information can be exchanged through the scheduling system or directly between two machines.

[0104] If interaction occurs through a scheduling system, the scheduling system sends action instructions to both machines A and B simultaneously. After executing the instructions, machines A and B return a completion message to the scheduling system, which then sends the next action instruction, and so on, until the task is complete. Ultimately, the scheduling system dispatches A and B back to their respective locations before processing the work object (though not to the same location; the scheduling system records A's location when A requests collaborative processing and B's location when dispatching B to assist A).

[0105] If two machines are interacting directly, A can be the master control machine. A sends action commands to B, and B responds to confirm receipt. Both machines then act simultaneously. Once the process is complete, A reports to the dispatch system, which then dispatches A and B back to their original positions. For example, to move a large branch larger than a preset size, the action commands involved are all composed of a pre-defined set of individual actions, such as lowering, grabbing, lifting, and transporting.

[0106] The “scheduling function” mentioned in the text can be understood as a software program or function, which can be implemented by a controller integrated with a communication module. The scheduling function, for example, refers to an instruction that can instruct other autonomous robots or devices to perform actions by communicating with other autonomous robots or devices. It should be pointed out that each autonomous robot can be a robot with a scheduling function, that is, robot A can schedule robot B, and robot B can also schedule robot A. In order to avoid scheduling confusion, the robot’s scheduling authority, scheduling range, and scheduling robot priority can usually be set (for example, by giving the robot a built-in number, and the size of the number determines its priority). “Not having a scheduling function” can be understood as the scheduling function being turned off (for example, when manually configured, it is configured to a symbol corresponding to off through a configuration symbol) or the scheduling function is not configured, and this application does not limit this.

[0107] Autonomous robots may encounter abnormal situations during operation, where abnormal situations may refer to abnormal objects or abnormal environments.

[0108] In some embodiments of the present specification, an abnormal object may be an unexpected object, that is, the autonomous robot is not aware in advance that the object will be in the working area. For example, in an exemplary embodiment, the abnormal object may be a new obstacle that appears in the working area after the walking path is planned (the object did not exist in the working area when the first autonomous robot planned the walking path). For another example, in another exemplary embodiment, the abnormal object may also be an abnormal working object (for example, a working object that exceeds the regular shape and size learned by the first autonomous robot through machine learning). Among them, the working object is the object being worked on by the autonomous robot. For example, taking an intelligent lawn mower as an example, the grass and / or shrubs in the working area may be the working object. If the intelligent lawn mower detects a branch appearing in the lawn or a small tree growing in the lawn during mowing, the branches or small trees can be regarded as abnormal objects. For another example, if the intelligent lawn mower detects animal feces in the lawn during mowing, it can also be regarded as an abnormal object.

[0109] In some embodiments of this specification, an abnormal environment can be an unexpected external environment, i.e., the autonomous robot is not aware of the presence of such an external environment in advance. In some embodiments of this specification, the autonomous robot can be equipped with one or more environmental perception sensors (e.g., a humidity sensor, a soil fertility sensor, a rain and snow sensor, etc.). Therefore, during operation, the first autonomous robot can detect whether the external environment is abnormal based on its own environmental perception sensors.

[0110] In an exemplary embodiment, taking a smart lawn mower as an example, during mowing, the smart lawn mower can detect whether the lawn is lacking water (for example, detecting whether the moisture content of the lawn soil is lower than a preset value) through its own moisture sensor. If the lawn is lacking water, the lack of water in the lawn can be regarded as a specific abnormal environment.

[0111] In another exemplary embodiment, using a smart lawn mower as an example, during mowing, the smart lawn mower can also use its own soil fertility sensor to detect whether the lawn is lacking fertilizer (for example, detecting whether the nitrogen, phosphorus, or potassium content in the lawn soil is lower than a corresponding preset value). If the lawn is lacking fertilizer, the lack of fertilizer can be regarded as a specific abnormal environment.

[0112] In another exemplary embodiment, taking a smart lawn mower as an example, during the mowing process, the smart lawn mower can also detect whether there is precipitation in the local area through its own rain and snow sensor. If there is precipitation in the local area, the precipitation in the local area can also be regarded as a specific abnormal environment.

[0113] It should be noted that when the method is executed: the first autonomous robot may, based on the type of abnormal condition, search a pre-stored foreign object strategy correspondence table for a processing strategy corresponding to the abnormal condition. When the processing strategy corresponding to the abnormal condition is an independent processing strategy, the first autonomous robot performs the following step of determining, based on the state information, whether a second autonomous robot exists within the Internet of Things that can independently process the abnormal condition. When the processing strategy corresponding to the abnormal condition is a collaborative processing strategy, the first autonomous robot performs the following step of determining, based on the state information, whether a third autonomous robot exists within the Internet of Things that can collaboratively process the abnormal condition. It is understood that the first autonomous robot may be a robot with a scheduling function, or may be replaced by a scheduling system, with the scheduling system executing the execution. For a first autonomous robot without a scheduling function, the first autonomous robot may determine the strategy corresponding to the foreign object, or may simply send the foreign object information to the scheduling system or a scheduling robot (a scheduling robot with a scheduling function). In this case, the scheduling system or the scheduling robot determines whether to adopt an independent processing strategy or a collaborative processing strategy for processing the foreign object, thereby determining and scheduling the second autonomous robot or the third autonomous robot.

[0114] For the convenience of description, in the following embodiments of this specification, abnormal objects (referred to as foreign objects) are mainly used as examples for description.

[0115] refer to Figure 2 As shown, the embodiments of this specification provide a multi-machine collaboration method applied to the autonomous robot side. In some embodiments of this specification, the multi-machine collaboration method may include the following steps:

[0116] S201: When a first autonomous robot detects an abnormal object during operation, it determines whether it can independently handle the abnormal object.

[0117] In an optional embodiment, a first autonomous robot walks in a work area and performs ground care operations in the work area. The care operations may be, for example, mowing, fertilizing, sowing, etc. The care operations are related to the working head of the first autonomous robot. If an abnormal object is detected during the operation, for example, the abnormal object is an unexpected object in the work area that affects the first autonomous robot's care work, the first autonomous robot will determine whether it can independently handle the abnormal object. When determining whether it can independently handle the abnormal object, it can first determine the work strategy required to eliminate the abnormal situation and the type of work it can handle. The work type can be determined, for example, by the working head it carries. For example, if the working head is a mowing component, then the work type is mowing. If an object beyond the mowing function (such as a small branch smaller than a preset size) is identified by an identification component (such as an image acquisition device or a radar) during the operation, the object cannot be handled. The work strategy may be, for example, an obstacle avoidance strategy that bypasses the abnormal object (for example, for obstacles stored in the robot, such as stones) or a head replacement strategy that handles the abnormal object by replacing the working head (for example, for small branches, the mowing head can be replaced with a picking head). Pick up a working head to handle) or request an assistance strategy, where the request assistance strategy includes, for example, an independent processing strategy that can independently remove foreign objects or a collaborative processing strategy that requires collaboration to remove foreign objects. The specific situations in which different strategies are executed can be pre-defined and stored in the machine or equipment. For example, the foreign objects that can be handled independently can be determined by the correspondence between the foreign object type and the independent processing strategy, that is, the machine can pre-store the correspondence between the foreign object and the independent processing strategy to determine which foreign objects can adopt the independent processing strategy. It can be understood that the independent processing strategy may include the type of working head that can independently handle the foreign object, so as to determine what kind of machine can handle what kind of foreign object; similarly, the foreign object that needs to be collaboratively handled is determined by the correspondence between the foreign object type and the collaborative processing strategy, so as to adopt the corresponding collaborative processing strategy. The collaborative processing strategy may include the type of working head that collaboratively handles the corresponding foreign object. It should be pointed out that the above-mentioned relevant information (such as foreign objects, equipment for handling foreign objects, strategies adopted for foreign objects, etc.) can be pre-matched and stored in the memory of the first autonomous robot for retrieval and judgment; based on the working strategy and working type, it is determined whether the abnormal object can be handled independently. For example, in one embodiment, if the abnormal object is neither an obstacle to be avoided nor can it be handled by changing the working head by itself, then it is determined that the first autonomous robot cannot handle the abnormal object independently, and it will send a request for assistance to other devices in the Internet of Things where it is located.

[0118] In one embodiment, the assistance request may only include the type of foreign object and its location, such as the location of the foreign object and the location of the machine when the abnormal object was discovered, so that other devices can proactively respond to the assistance request and thereby handle the abnormal object. For example, the other device can independently determine whether it can handle the abnormal object and, if so, determine the processing route. Upon confirmation, the other device sends a confirmation message to the first autonomous robot to inform the first autonomous robot. Upon receiving a consent signal from the first autonomous robot, the other device will proceed to handle the abnormal object according to the generated processing route. The purpose of sending the confirmation message and consent signal here is to ensure that the robot assigned to the abnormal object can handle the required number of foreign objects and avoid wasting resources. It should be noted that in other embodiments, the other device may also send a confirmation message to the first autonomous robot upon determining that the abnormal object can be handled. Then, upon receiving a consent signal from the first autonomous robot within a preset time, the other device may generate a processing route based on the location of the foreign object and proceed to handle the abnormal object according to the generated processing route. Alternatively, the processing route may be generated by the first autonomous robot and sent to the designated processing device. Upon receiving the processing route, the designated processing device will proceed to handle the abnormal object according to the generated processing route.

[0119] That is to say, the assistance request may only include information about the foreign object, such as the type of foreign object (a branch or dog feces) and its location, and the device that receives the assistance request will decide whether to come and handle it. Of course, in other embodiments, the assistance request may also include other information, such as a working head required to eliminate foreign objects (for example, a working head that can grasp a large branch is required), and processing strategy information (such as obstacle avoidance strategy, head replacement processing strategy, collaborative processing strategy or independent processing strategy), etc. This embodiment does not limit this.

[0120] In another embodiment, the assistance request is simply a broadcast signal that does not include any information about the foreign object, such as the work head required to remove the foreign object and the location of the foreign object. The issued assistance request can be used to obtain status information of other devices. For another example, when the assistance request is simply used to broadcast a request for help, a status query message can also be sent to other devices along with or after the assistance request to query the status of the other devices and obtain their status information, thereby identifying a device capable of handling the foreign object and dispatching it through communication with the device. The status query signal can include the type of work or task the device is capable of performing, whether the device is currently idle, and if not, the time required to complete the current work, whether there are other pending tasks (which can be determined by obtaining its task list), and at least one piece of information related to performing foreign object removal, such as the remaining battery power, so that the dispatchable robot can be determined based on the status information.

[0121] S202: When the first autonomous robot cannot handle the problem independently, it sends a request for assistance to other devices in the Internet of Things where it is located.

[0122] When it is impossible to handle the problem independently, for example, it is determined whether there is a second autonomous robot in the Internet of Things that can handle the exception independently or whether there is a third autonomous robot that can assist in handling the exception. When the judgment result is yes, the first autonomous robot sends an assistance request to the second autonomous robot or the third autonomous robot in the Internet of Things where it is located. The second autonomous robot or the third autonomous robot reaches the designated location based on the assistance request and handles the exception.

[0123] In the embodiments of the present specification, when the first autonomous robot encounters an abnormal object that it cannot handle independently during operation, it can send an assistance request to other devices in the Internet of Things where it is located to handle the abnormal object; thereby achieving multi-machine collaborative operation between autonomous robots, or between autonomous robots and other devices, and thereby improving the operating performance of the autonomous robots.

[0124] In some embodiments of this specification, the autonomous robot is generally equipped with an obstacle detection sensor (such as an ultrasonic sensor, a visual sensor, etc.) to detect whether there are obstacles within the surrounding detectable range. Therefore, the first autonomous robot can detect abnormal objects based on its own obstacle detection sensor during operation. Here, operation refers to the first autonomous robot performing a work task (such as performing an operation task according to a planned walking path). In some example embodiments, depending on the different operation execution devices, the operation can be, for example, mowing, pruning, fertilizing, watering, pest control, dust removal, snow removal, etc.

[0125] In some embodiments of this specification, determining whether the abnormal object can be processed independently may include:

[0126] If the first autonomous robot can independently handle the abnormal object without replacing its working head, or if the first autonomous robot can independently handle the abnormal object after replacing its working head, the first autonomous robot determines that it can independently handle the abnormal object. Otherwise, the first autonomous robot determines that it cannot independently handle the abnormal object.

[0127] For example, in some embodiments of this specification, although the working head currently carried by the first autonomous robot is not suitable for handling abnormal objects, if the first autonomous robot can independently handle the abnormal object after replacing the working head that is suitable for handling, then it can be considered that the first autonomous robot can independently handle the abnormal object. Figure 4 In the exemplary embodiment shown, although the working head currently carried by the autonomous robot A is not suitable for processing abnormal objects, the autonomous robot A can also independently process the abnormal objects after replacing the working head with a suitable one at the working head station.

[0128] In another embodiment of the present specification, when a first autonomous robot detects an abnormal object during operation, the robot may further determine whether the abnormal object affects the operation of the first autonomous robot to determine whether the abnormal object needs to be handled. If the abnormal object affects the operation of the first autonomous robot, it indicates that the abnormal object needs to be handled. Therefore, the first autonomous robot may further determine whether it can independently handle the abnormal object.

[0129] For example, in another embodiment of the present specification, when the first autonomous robot detects an abnormal situation during operation, determining whether the first autonomous robot can independently handle the abnormal situation includes:

[0130] The first autonomous robot monitors its surroundings during operation;

[0131] If an abnormal condition is detected in the surrounding environment, the first autonomous robot collects information about the abnormal condition and determines, based on the information about the abnormal condition, whether the abnormal condition affects the normal operation of the first autonomous robot, so as to determine whether the abnormal condition needs to be handled;

[0132] If processing is required, the first autonomous robot executes a step of determining a working strategy required to eliminate the abnormal condition, and judging whether it can independently process the abnormal condition based on the working strategy and the type of work that the first autonomous robot itself can process.

[0133] The surrounding environment is the environment within the sensor's detectable range. For example, if a sensor can detect a 120-degree range in front of it at a detection distance of 6 meters, then this surrounding environment is the environment in front of it that the sensor can detect.

[0134] Taking an abnormal object as an example, the logic for determining whether the abnormal condition needs to be handled is as follows:

[0135] During operation, the machine follows a pre-set path. When a sensor detects an unusual object, it can obtain data such as its angle, height, or size relative to the sensor (different sensors obtain different data). Based on this data, the machine can determine whether the unusual object is in the machine's path, whether its size will cause abnormal operation, and whether the unusual object has disappeared within a certain period of time. If the unusual object is not in the path and does not affect the machine's normal operation when it approaches the unusual object, then the object does not require any action or does not require any action for the time being.

[0136] For example, when an autonomous robot's obstacle detection sensor detects an abnormal object, it can obtain data such as its position, size (e.g., length, width, height), and shape relative to the autonomous robot. Based on this data, the autonomous robot's control device can determine whether the abnormal object is located in the autonomous robot's path, whether its size will cause abnormal machine operation, and whether the abnormal object will automatically disappear when the autonomous robot approaches (e.g., an animal that temporarily intrudes into the work area). If the abnormal object is not in the path, its size will not cause abnormal machine operation, and it will automatically disappear when the autonomous robot approaches it (e.g., the shape of the abnormal object indicates that it is a cat, and the autonomous robot can predict that cats will generally avoid it when approached), and thus will not affect the normal operation of the robot, it can be considered that the abnormal object does not affect the operation of the first autonomous robot and does not require immediate action. Conversely, it can be considered that the abnormal object affects the operation of the first autonomous robot and requires action.

[0137] In some embodiments of this specification, the first autonomous robot may be an autonomous robot with a scheduling function (i.e., the first autonomous robot is a scheduling device). In this case, the first autonomous robot may send an assistance request to other devices in the IoT in which it is located, which may include:

[0138] When a second autonomous robot capable of independently handling the abnormal object exists within the IoT, the first autonomous robot dispatches the second autonomous robot to a designated location so that the second autonomous robot can handle the abnormal object. The designated location can be, for example, the location of the abnormal object. Alternatively, the designated location can be the location of the first autonomous robot or a specific location near the first autonomous robot. The specific location can be set as needed.

[0139] For example, in some embodiments of this specification, the first autonomous robot receives status information from other devices and, based on the status information, determines whether there is a second autonomous robot within the Internet of Things that can independently handle the abnormal situation. When the second autonomous robot within the Internet of Things exists that can independently handle the abnormal situation, the first autonomous robot sends a dispatch instruction to the second autonomous robot, the dispatch instruction including a dispatch path for the second autonomous robot to reach a designated location, so that the second autonomous robot arrives at the designated location according to the dispatch instruction to handle the abnormal situation. That is, the first autonomous robot may first find a second autonomous robot that can independently handle the abnormal object, then generate a dispatch path based on the second autonomous robot's position and the designated location, and send it to the second autonomous robot so that the second autonomous robot can reach the designated location according to the dispatch path. Of course, in other embodiments of this specification, after finding the second autonomous robot that can independently handle the abnormal object, the first autonomous robot may simply send the designated location to the second autonomous robot. In this case, the second autonomous robot may autonomously plan a path based on its own position and the designated location, and reach the designated location according to the path.

[0140] In some embodiments of the present specification, the second autonomous robot can directly process the abnormal object after arriving at the designated location. In other embodiments of the present specification, the second autonomous robot begins processing the abnormal object upon receiving a processing instruction from the first autonomous robot after arriving at the designated location.

[0141] In some embodiments of the present specification, the second autonomous robot processing the abnormal object may be, for example, the second autonomous robot removing the abnormal object from the working area.

[0142] For example, in an exemplary embodiment of the present specification, when the abnormal object is animal feces, the second autonomous robot functions as an animal feces removal robot and can move to the vicinity of the location of the animal feces and clean up the animal feces.

[0143] For example, in another exemplary embodiment of the present specification, taking the smart lawn mower as an example, when the abnormal environment is that the lawn soil is short of water, the second autonomous robot may handle the abnormal environment by: the second autonomous robot acts as a watering robot to perform irrigation operations on the lawn.

[0144] For example, in another exemplary embodiment of the present specification, taking the intelligent lawn mower as an example, when the abnormal environment is that the lawn soil lacks fertilizer, the second autonomous robot may handle the abnormal environment by: the second autonomous robot acts as a fertilizer robot to perform fertilization operations on the lawn.

[0145] For example, in another exemplary embodiment of the present specification, when the abnormal environment is that there is precipitation in the local area, the first autonomous robot can notify the second autonomous robot, which is a watering robot, to stop performing the ongoing irrigation operation and replan the irrigation operation plan.

[0146] For example, in another exemplary embodiment of the present specification, when the abnormal environment is that there is precipitation in the local area, the first autonomous robot can notify the window opening and closing controller located in the home (the window opening and closing controller serves as the second autonomous robot) to perform the window closing operation.

[0147] For example, in another exemplary embodiment of the present specification, when the abnormal environment is that the air quality exceeds the standard, the first autonomous robot can notify the window opening and closing controller located in the home (the window opening and closing controller serves as the second autonomous robot) to perform the window closing operation, and at the same time, it can also notify the air purifier located in the home (the window opening and closing controller also serves as the second autonomous robot) to perform the air purification operation, and so on.

[0148] In an embodiment of the present specification, a first autonomous robot can dispatch a second autonomous robot capable of independently handling the abnormal object via point-to-point wireless communication. For example, in one exemplary embodiment, the first autonomous robot can wirelessly communicate with the second autonomous robot via a V2V (Vehicle-to-Vehicle) communication protocol.

[0149] In some embodiments of the present specification, the first autonomous robot may send an assistance request to the other device to obtain the status information of the other device, and determine the second autonomous robot based on the status information fed back by the other device based on the status query request. After receiving the assistance request, the other device may detect its own status information and return it to the first autonomous robot. The status query request may be sent regularly within a specified time range. For example, a query request may be sent every 5 seconds within one minute. Of course, the present specification does not limit the method of obtaining status information. In other embodiments, other devices in the physical network may also periodically report their status information to the first autonomous robot with scheduling function.

[0150] In a possible implementation manner, the aforementioned status information may refer to all parameters of the device itself, including device parameters and status information.

[0151] In one embodiment of the present specification, in order to reduce the transmission traffic and the amount of information viewed by the first robot so that the first autonomous robot can find the required information as quickly as possible, preferably, the status information mainly includes information related to foreign object handling, such as the tasks / functions that the device can perform (such as mowing, irrigation, etc.), the location of the device, the idle status of the device (such as a schedule), whether it has an identification component (such as a camera or a radio frequency transmitter) that can recognize the work head identification (such as an image or a barcode), the remaining power, the task completion status, etc.

[0152] For example, in Figure 5 In the exemplary embodiment shown, based on the V2V communication protocol, autonomous robot A can send a status query request to autonomous robots B, autonomous robot C and autonomous robot D in the Internet of Things where it is located in the form of broadcast or multicast; so that after receiving the status information fed back by the autonomous robots B, autonomous robot C and autonomous robot D, the second autonomous robot can be determined according to the fed back status information.

[0153] In one embodiment of the present specification, determining the second autonomous robot according to the state information may include: 1) determining an autonomous robot in the other devices that meets the assistance condition according to the state information;

[0154] For example, the first autonomous robot determines, based on the status information, whether there is an autonomous robot in other equipment whose work type can be performed and matches the work type for eliminating the abnormal condition or whose functional components match the functional components for eliminating the abnormal condition. If the result is yes, it is determined that the autonomous robot meets the assistance conditions.

[0155] It should be understood that the assistance conditions may include, for example, that the performed task / function / work type matches the foreign object handling or that the functional component (such as the work head) matches the foreign object handling, and may also include other auxiliary conditions such as the remaining power being greater than a preset threshold, the least work tasks, or the lowest work task priority, which are not limited in this embodiment.

[0156] It should be noted that foreign objects and the functional components required to handle the foreign objects or the equipment capable of performing specific tasks are pre-stored in the memory of the first autonomous robot. Foreign objects can be a collection of common objects that each robot or device may encounter during operation but cannot handle. Of course, all objects that can be handled by all robots or devices in the Internet of Things can be classified and matched to devices that can handle the corresponding objects according to their functions, and a corresponding table is generated and then stored in a device with a scheduling function. Of course, in other embodiments, it can also be stored in each robot or device so that when each robot or device finds that there is a foreign object that can be handled by other devices in the Internet of Things but cannot be handled by itself during its work, it will promptly issue a request for assistance, thereby realizing multi-machine collaboration.

[0157] Similarly, the task priority can also be pre-set and stored in a device or each device with scheduling function in the Internet of Things to confirm the urgency of the task. It can be used as a judgment factor for whether the above-mentioned assistance conditions are met; it can also be used in the following scenario judgment of whether the robot needs to switch the work head after switching the work head; for example, when scheduling the second autonomous robot, when foreign object processing is urgent, that is, the priority of foreign object processing is greater than the priority of the work performed by the second autonomous robot, the second autonomous robot will first stop the current work, go to the work head station to switch the work head, and after processing the foreign object at the designated position, return to the work head station to switch back to the previous work head to continue the interrupted work; when foreign object processing is not urgent, the priority of foreign object processing is less than or equal to the priority of the work performed by the second autonomous robot, the second autonomous robot will first complete the current work, and then go to the work head station to switch the work head to the designated position to process the foreign object. After the foreign object processing is completed, there is no need to switch back to the previous work head.

[0158] For example, when the assistance conditions only include foreign objects and their corresponding functions or equipment matching conditions, the first autonomous robot will find out from the feedback status information of the equipment that the working head is a robot with a picking working head, and determine that it meets the assistance conditions.

[0159] 2) If there is only one autonomous robot that meets the assistance condition, the autonomous robot that meets the assistance condition is determined as the second autonomous robot; for example, Figure 6 In the illustrated exemplary embodiment, based on the assistance request of the autonomous robot A, the autonomous robot B, which is capable of independently handling an abnormal object, can independently handle the abnormal object.

[0160] 3) If there are multiple autonomous robots that meet the assistance conditions, then one autonomous robot is selected from the multiple autonomous robots that meet the assistance conditions as the second autonomous robot according to the first screening rule. In one embodiment of this specification, the autonomous robot that meets the scheduling conditions may be an autonomous robot equipped with a working head capable of handling the abnormal object. For example, in one exemplary embodiment, the intelligent lawn mower detects that the lawn is lacking fertilizer during mowing, and the autonomous robot that provides status information includes a fertilizer robot. Those skilled in the art will understand that this is merely an exemplary description and should not be construed as the sole limitation of this specification. In other embodiments of this specification, the assistance conditions may be set according to actual circumstances.

[0161] In one embodiment of the present specification, the above-mentioned first screening rule can be random selection, priority given to the closest distance to the first autonomous robot, priority given to the largest remaining battery, priority given to the fewest remaining unfinished tasks and / or priority given to the lowest task priority, etc., which can be selected according to actual needs.

[0162] In other embodiments of the present specification, the first autonomous robot sends an assistance request to other devices in the Internet of Things where the first autonomous robot is located, and may also include: when there is no second autonomous robot in the Internet of Things that can independently handle the abnormal object, the first autonomous robot can select an autonomous robot from the other devices and control the autonomous robot to replace the working head that can independently handle the abnormal object; or, when there is no second autonomous robot in the Internet of Things that can independently handle the abnormal object, the first autonomous robot itself replaces the working head that can independently handle the abnormal object.

[0163] In some real-time methods, when there is no second autonomous robot in the Internet of Things that can independently handle the abnormal condition, the first autonomous robot retrieves the pre-stored location information of the work head station and the work head list of the work head station, wherein the work head station has multiple work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identifier, or each work head is provided with a work head identifier, and the work head identifier includes the work head type or the type of work that the work head can perform; when there is a work head in the work head list that can eliminate the abnormal condition, an autonomous robot that can identify the work head identifier is selected from the other devices according to the feedback status information, and a replacement instruction is sent to the autonomous robot, wherein the replacement instruction includes the return path of the autonomous robot to the work head station and the work head identifier of the work head that can eliminate the abnormal condition, and the autonomous robot replaces the work head that can eliminate the abnormal condition according to the replacement instruction.

[0164] The above-mentioned work heads are pre-set at the work head station. The work that each work head can process can be stored as a work identification (such as a barcode, etc.). An identification element for identifying the work identification is pre-set on the corresponding robot at the corresponding position of the work head station. For details, please refer to the existing technology (such as the patent with publication number CN1927553A), and this application does not limit it.

[0165] For example, in Figure 7 In the exemplary embodiment shown, the autonomous robot A selects an autonomous robot B from other autonomous robots and instructs it to go to a workstation to replace a working head adapted to the abnormal object or abnormal scene to serve as the second autonomous robot.

[0166] In one embodiment of the present specification, the above-mentioned second screening rule can be random selection, priority for the closest distance to the workstation, priority for the largest remaining power, priority for the fewest remaining unfinished tasks and / or priority for the lowest task priority, etc., and can also be selected according to actual needs.

[0167] At the workstation, each workhead can be fixed in position, allowing the autonomous robot to automatically plan a path from its current position to the desired workhead. The workhead and the autonomous robot can be connected via an interface that facilitates connection and disconnection. In one embodiment of this specification, the interface can consist of two components: one component can be mounted on the autonomous robot, and the other can be mounted on the workhead. The two components can be connected via a structure such as a shaft hole or a slide groove. In another embodiment of this specification, one component can be equipped with a latch that can move between a detachment position and a loading position to control the connection and disconnection of the two components. When detachment is required, the latch moves to the detachment position, the autonomous robot retreats, and the two components disconnect. When loading is required, one component is inserted into the other, and the latch moves to the loading position, ensuring that the two components cannot disconnect. Therefore, if there is no second autonomous robot within the Internet of Things that can independently handle the abnormal object, the first autonomous robot can select an autonomous robot from other devices within the Internet of Things and control it to go to the workstation to replace a workhead that can independently handle the abnormal object.

[0168] In one embodiment of the present specification, after the first autonomous robot determines the second autonomous robot based on the state information and dispatches the second autonomous robot to handle the abnormal object, it can avoid the abnormal object in an obstacle-avoiding manner and continue to perform the task. After the second autonomous robot completes the processing of the abnormal object (for example, completes all action instructions of the abnormal object), it can also feedback the processed signal to the first autonomous robot so that the first autonomous robot can return to the position and continue to perform the task at an appropriate time. In addition, when the first autonomous robot receives the processed signal sent by the second autonomous robot, the first autonomous robot can control the second autonomous robot to return to the position before processing the abnormal object to continue to perform the task that was interrupted by the second autonomous robot.

[0169] In one embodiment of the present specification, the method further includes: after sending the scheduling instruction to the second autonomous robot, the first autonomous robot may also drive away from the target position when the abnormal object is detected and continue to perform its own operation.

[0170] Specifically, when the waiting time after the first autonomous robot sends a scheduling instruction to the second autonomous robot reaches a preset waiting time, or when the first autonomous robot receives a reply signal fed back by the second autonomous robot, the first autonomous robot moves away from the target position when the abnormal condition is detected and continues to perform its own operation.

[0171] In one embodiment of this specification, in the case of an abnormal object, the robot may continue to operate by, for example, bypassing the abnormal object; in the case of an abnormal environment (e.g., rain), the robot may continue to operate or return. "After sending a dispatch instruction to the second autonomous robot" may refer to when the dispatch instruction has been sent, when the second autonomous robot is moving to the designated location according to the dispatch instruction, or when the second autonomous robot arrives at the designated location according to the dispatch instruction.

[0172] In another embodiment of the present specification, the method may further include: when the first autonomous robot receives the processed signal sent by the second autonomous robot, the first autonomous robot returns to the target position at a specified time and performs operations on the target position or an area within a preset range of the target position.

[0173] For example, the first autonomous robot returns to the target location (i.e., the location where the abnormal object was previously detected) at a specified time and performs operations in an area within a preset range of the target location or the location where the abnormal object is located. The specified time may be, for example, within a set time interval after receiving the processed signal, or completing operations near the location where the robot was located when the processed signal was received.

[0174] Similarly, if the first autonomous robot is capable of handling the abnormal object, the first autonomous robot can continue the previously interrupted task after completing the task. Furthermore, if the first autonomous robot handles the abnormal object after replacing its working head, the first autonomous robot can replace the original working head after completing the task and then continue the previously interrupted task.

[0175] In some embodiments of the present specification, in some cases, if an abnormal object exceeds a preset threshold due to its large size, weight, and / or volume, so that any device in the Internet of Things, even if it is configured or replaced with an adapted working head, is unable to independently complete the abnormal object, then the first autonomous robot can control two or more devices in the Internet of Things to collaboratively process the abnormal object. That is, when there is a third autonomous robot in the Internet of Things that can collaboratively process the abnormal object, the first autonomous robot can dispatch the third autonomous robot to a designated location so as to collaboratively process the abnormal object with the third autonomous robot. Of course, when there is no third autonomous robot in the Internet of Things that can collaboratively process the abnormal object, the first autonomous robot can select one or more autonomous robots from the other devices (specific selection can be based on actual needs) and control the autonomous robot to replace the working head that can collaboratively process the abnormal object to serve as the third autonomous robot that can collaboratively process the abnormal object.

[0176] In one embodiment of the present specification, the first autonomous robot is an autonomous robot with a scheduling function, and the first autonomous robot sends an assistance request to other devices in the Internet of Things where it is located, including: the first autonomous robot receives status information of other devices, and determines whether there is a third autonomous robot in the Internet of Things that can assist in handling the abnormal situation based on the status information; when there is a third autonomous robot in the Internet of Things that can collaboratively handle the abnormal situation, the first autonomous robot sends a scheduling instruction to the third autonomous robot, and the scheduling instruction includes a scheduling path for the third autonomous robot to reach a specified location, so that the third autonomous robot arrives at the specified location according to the scheduling instruction, so as to collaboratively handle the abnormal situation with the third autonomous robot.

[0177] In one embodiment of the present specification, when there is no third autonomous robot in the Internet of Things that can collaboratively handle the abnormal situation, the first autonomous robot retrieves the pre-stored location information of the work head station and the work head list of the work head station, wherein the work head station has multiple work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identifier, or each work head is provided with a work head identifier, and the work head identifier includes information on the work head type or the type of work that the work head can perform; when there is a work head in the work head list that can assist with the abnormal situation, an autonomous robot that can identify the work head identifier is selected from the other devices based on the feedback status information, and a replacement instruction is sent to the autonomous robot, the replacement instruction including the return path of the autonomous robot to the work head station and the work head identifier of the work head that can assist in handling the abnormal situation, and the autonomous robot goes to the work head station according to the replacement instruction to replace the work head that can assist in handling the abnormal situation.

[0178] It should be pointed out that the collaborative processing logic of the third robot is similar to the independent processing logic of the second autonomous robot. For example, foreign objects that need to be collaboratively processed and the corresponding processing equipment can also be pre-stored in a scheduling device with a scheduling function or each device, so that they can be read and used when a request is issued and the third robot for collaborative processing is determined after encountering them during work. For matters not explained, the independent processing logic of the second autonomous robot can be compared with the above, and will not be repeated here.

[0179] It should be noted that when using a third robot to assist in processing, the first autonomous robot may also include determining the number of autonomous robots required to process the abnormal object (for example, the first autonomous robot can estimate the number of autonomous robots required based on the shape and size of the abnormal object). If the required number of autonomous robots is less than or equal to the number of the third autonomous robots, it will be processed by multiple third autonomous robots or a second autonomous robot with the required number of robots selected from multiple third autonomous robots. If the required number of robots is greater than the number of the third autonomous robots, the first autonomous robot determines whether its own working head can assist in processing; if the first autonomous robot can assist in processing, and the number of the first autonomous robot plus the third autonomous robot is equal to the required number of robots, the first autonomous robot and the multiple third autonomous robots will process together; otherwise, some other robots can be called to replace the working head to meet the number of robots to assist in processing. The calling rules can refer to the above-mentioned first screening rules and / or second screening rules, which will not be repeated here.

[0180] In one embodiment of the present specification, the collaborative processing of the abnormal object with the third autonomous robot may include: the first autonomous robot sends an action instruction to the third autonomous robot; when receiving the confirmation information returned by the third autonomous robot in response to the action instruction, the first autonomous robot and the third autonomous robot perform synchronous actions according to the action instruction to achieve collaborative processing of the abnormal object by both.

[0181] For example, in Figure 9 In the exemplary embodiment shown, while operating within a work area 200, a first autonomous robot 101a detects an abnormal object 300 that it cannot handle independently. The first autonomous robot 101a dispatches a third autonomous robot 101b for assistance. After the third autonomous robot 101b arrives at a designated location, the first autonomous robot 101a can send an action command to the third autonomous robot 101b. Upon receiving the action command, the third autonomous robot 101b can reply with an acknowledgement. Upon receiving the acknowledgement from the third autonomous robot 101b regarding the action command, the first autonomous robot 101a and the third autonomous robot 101b can execute synchronized actions based on the action command, thereby enabling the first and third autonomous robots 101a and 101b to collaboratively handle the abnormal object. Specifically, the first and third autonomous robots 101a and 101b collaborate to push the abnormal object 300 out of the work area 200, ultimately removing the abnormal object 300 from the work area 200. This completes the multi-robot collaboration between the first and third autonomous robots 101a and 101b.

[0182] In other embodiments of this specification, the first autonomous robot may also be an autonomous robot without a scheduling function. In this case, the first autonomous robot sending an assistance request to other devices in the IoT in which it is located may include: the first autonomous robot sending an assistance request to an autonomous robot with a scheduling function or a scheduling system, so that the autonomous robot with a scheduling function or the scheduling system dispatches a second autonomous robot capable of independently handling the abnormal object based on the assistance request, thereby achieving multi-machine collaborative operation among the autonomous robots through the scheduling device.

[0183] For example, in Figure 8 In the exemplary embodiment shown, when autonomous robot A cannot handle an abnormal object independently, it sends an assistance request to the dispatching system, so that the dispatching system determines a second autonomous robot from autonomous robot B, autonomous robot C, and autonomous robot D based on the assistance request.

[0184] In other embodiments of the present specification, under the premise that the first autonomous robot is an autonomous robot without a scheduling function, if the abnormal object is large in size, weight and / or volume, so that any device in the Internet of Things is difficult to independently complete the abnormal object even if it is configured or replaced with an adaptive working head; then the first autonomous robot sends an assistance request to other devices in the Internet of Things where it is located, which may include: the first autonomous robot sends an assistance request to an autonomous robot with a scheduling function or a scheduling system, so that the autonomous robot with a scheduling function or the scheduling system dispatches a third autonomous robot that can collaboratively process the abnormal object according to the assistance request.

[0185] Specifically, the first autonomous robot sends an assistance request to an autonomous robot with a scheduling function or a scheduling system, so that the autonomous robot with a scheduling function or the scheduling system determines a processing strategy corresponding to the abnormal condition based on the assistance request. When the processing strategy is an independent processing strategy, the second autonomous robot that can independently handle the abnormal condition is scheduled according to the independent processing strategy; when the processing strategy is a collaborative processing strategy, the third autonomous robot that can collaboratively handle the abnormal condition is scheduled according to the collaborative processing strategy.

[0186] In some embodiments of the present specification, during collaborative processing, the first autonomous robot may stay at the location where the abnormal object is detected during the process of scheduling autonomous robots to wait for the arrival of the third autonomous robot, so that when the number of the third autonomous robots is insufficient, the abnormal object can be processed together with the third autonomous robot that can work collaboratively.

[0187] refer to Figure 3 As shown, the embodiments of this specification provide a multi-machine collaboration method applied to the scheduling device side. In this case, an autonomous robot or scheduling system with scheduling functions within the Internet of Things can serve as a scheduling device. In some embodiments of this specification, the multi-machine collaboration method may include the following steps:

[0188] S301. Receive an assistance request sent by a first autonomous robot; the assistance request is sent by the first autonomous robot when it detects an abnormal object or abnormal environment during operation and confirms that it cannot handle it independently.

[0189] S302: Send a dispatch instruction to other devices in the Internet of Things according to the assistance request to handle the abnormal object.

[0190] exist Figure 3 In the illustrated embodiment, when the first autonomous robot is an autonomous robot without a scheduling function, sending a scheduling instruction to other devices in the Internet of Things according to the assistance request may include:

[0191] When there is a second autonomous robot in the Internet of Things that can independently handle abnormal objects, the second autonomous robot is dispatched to a designated location so that the second autonomous robot can handle the abnormal object; and when there is no second autonomous robot in the Internet of Things that can independently handle abnormal objects, an autonomous robot is selected from the other devices and the autonomous robot is controlled to replace a working head that can independently handle the abnormal object; or, the first autonomous robot is controlled to replace a working head that can independently handle the abnormal object.

[0192] exist Figure 3 In the illustrated embodiment, when the first autonomous robot is an autonomous robot without a dispatching function, if the abnormal object is large in size, weight, and / or volume, such that any device in the Internet of Things cannot independently complete the abnormal object even if it is equipped with or replaced with an adapted working head, sending a dispatch instruction to other devices in the Internet of Things based on the assistance request may include:

[0193] When there is a third autonomous robot in the Internet of Things that can collaboratively process abnormal objects, the third autonomous robot is dispatched to a designated location so that the third autonomous robot and the first autonomous robot can collaboratively process the abnormal objects; or, when there is no third autonomous robot in the Internet of Things that can collaboratively process abnormal objects, an autonomous robot is selected from the other devices and controlled to replace a working head that can collaboratively process the abnormal objects to serve as the third autonomous robot.

[0194] exist Figure 3 In the embodiment shown, during the collaborative processing, the scheduling device can also control the synchronization of the actions of the first autonomous robot and the third autonomous robot; or, select one of the first autonomous robot and the third autonomous robot as the master robot, and the master robot controls the synchronization of the actions of the two.

[0195] exist Figure 3 In the embodiment shown, after the third autonomous robot and the first autonomous robot complete the collaborative processing of the abnormal object, the scheduling device can control the first autonomous robot and the third autonomous robot to return to their respective positions before processing the abnormal object, so that the first autonomous robot and the third autonomous robot can respectively perform their respective interrupted operations.

[0196] In one embodiment of this specification, the dispatching device may also communicate with the autonomous robot via wireless communication. In one embodiment of this specification, the processing logic for the dispatching device to select an autonomous robot from other devices in the Internet of Things can be referred to the description of the relevant part above and will not be repeated here.

[0197] The above multi-machine collaboration methods are all described from a single perspective. Figure 10 The embodiment shown in FIG shows the interaction process between the first autonomous robot, the second autonomous robot and the scheduling system. Figure 10 As can be seen in the figure, the first autonomous robot can also work in collaboration with the second autonomous robot when handling an abnormal object. After the first and second autonomous robots complete processing of the work object (i.e., the abnormal object determined to require processing), they can each return to the previously interrupted task and continue execution.

[0198] refer to Figure 11 As shown, this specification also provides an Around House intelligent system, which may include the above-mentioned autonomous robot, positioning server, Internet of Things (IoT) server, scheduling system (i.e. Figure 11 Cloud server in the system), client (user APP) and work head station, etc.

[0199] Combine Figure 11 As shown, in one embodiment of this specification, the autonomous robot can also control third-party devices. For example, the autonomous robot can control the opening and closing of window controllers, air purifiers, etc.

[0200] Combine Figure 11 As shown, in another embodiment of this specification, the autonomous robot may be equipped with a visual sensor. Accordingly, the multi-machine collaboration method may further include: upon receiving a target area monitoring instruction from a client, the first autonomous robot visually monitors the target area using its own visual sensor and provides the monitored video stream to the client for viewing. The target area may be, for example, a home's indoor or outdoor environment. This allows users to remotely control the autonomous robot through the client to achieve real-time monitoring of the home's indoor and outdoor environment.

[0201] Combine Figure 11 As shown, in one embodiment of this specification, based on the positioning server (for example Figure 11The positioning module of the autonomous robot can perform high-precision positioning by using the high-precision service provided by the SSR server and CORS server in the autonomous robot. The high-precision positioning system can, for example, be differential positioning, Simple Sequence Repeats (SSR) positioning, Radio Technical Commission for Maritime services (RTCM) positioning, or Continuously Operating Reference Stations (CORS) positioning. Furthermore, when the positioning modules of the two autonomous robots are different, in order to achieve collaboration, the first autonomous robot can convert the format of the positioning data.

[0202] Combine Figure 11 As shown, in one embodiment of this specification, the autonomous robot can build a work area map based on the Global Navigation Satellite System (GNSS). In another embodiment of this specification, the autonomous robot can also build a work area map based on GNSS and virtual reality (VR). In yet another embodiment of this specification, the autonomous robot can also build a work area map based on VR and visual simultaneous localization and mapping (VSLAM).

[0203] Combine Figure 11 As shown, in one embodiment of this specification, the scheduling system can obtain data collected by autonomous robots through sensors and other means, and perform big data analysis on this data to provide users with intelligent suggestions. In this embodiment of this specification, the intelligent suggestions can include garden diagnosis and maintenance, and purchase suggestions for consumables (which can be connected to private shopping malls and third-party partner malls for automatic purchase).

[0204] Combine Figure 11 As shown, in one embodiment of the present specification, the use of a scheduling system can facilitate unified management of the entire autonomous robot cluster. For example, the position, work dynamics and other information of all autonomous robots in the autonomous robot cluster can be grasped in real time. When it is found that the routes of the autonomous robots overlap or intersect, the order in which the autonomous robots pass can be planned to avoid collisions or waiting for each other.

[0205] Combine Figure 11As shown, in one embodiment of the present specification, the client can communicate with the Internet of Things server through the Internet, and the Internet of Things server can communicate with the autonomous robot base station or commercial mobile communication base station (such as 2G, 3G, 4G and / or 5G base station) through the Internet, and the autonomous robot base station or commercial mobile communication base station can wirelessly communicate with the autonomous robot, thereby realizing communication between the client and the autonomous robot.

[0206] Combine Figure 11 As shown, in one embodiment of the present specification, the Huanwu intelligent system also provides various management services, such as user management (such as user registration, login and physical network communication, etc.), dealer management (such as location distribution, base station maintenance, opinions and suggestions, etc.), intelligent recommendation (such as data analysis, configuration recommendation, garden maintenance materials, etc.), garden management (health diagnosis, suggestions, achievement reports, etc.), maintenance (fault codes, troubleshooting, repair suggestions) and equipment management (robotic, work head station management, real-time monitoring, etc.).

[0207] Although the process flows described above include multiple operations occurring in a particular order, it should be understood that these processes may include more or fewer operations, which may be performed sequentially or in parallel (eg, using parallel processors or a multi-threaded environment).

[0208] like Figure 12As shown, in some embodiments of this specification, a scheduling device 1200 is also provided. The scheduling device 1200 may include one or more processors 1204, such as one or more central processing units (CPUs) or graphics processing units (GPUs), each of which may implement one or more hardware threads. The scheduling device 1200 may also include any memory 1206 for storing any type of information such as code, settings, data, etc. In a specific embodiment, a computer program on the memory 1206 and executable on the processor 1204, when the computer program is executed by the processor 1204, may execute instructions according to the above method. For example, without limitation, the memory 1206 may include any one or more combinations of the following: any type of RAM, any type of ROM, a flash memory device, a hard disk, an optical disk, etc. More generally, any memory may use any technology to store information. Further, any memory may provide volatile or non-volatile retention of information. Further, any memory may represent a fixed or removable component of the scheduling device 1200. In one embodiment, when the processor 1204 executes the associated instructions stored in any memory or combination of memories, the scheduling device 1200 can perform any operation of the associated instructions. The scheduling device 1200 also includes one or more drive mechanisms 1208 for interacting with any memory, such as a hard disk drive mechanism, an optical disk drive mechanism, etc.

[0209] The scheduling device 1200 may also include an input / output interface 1210 (I / O) for receiving various inputs (via input device 1212) and for providing various outputs (via output device 1214). A specific output mechanism may include a presentation device 1216 and an associated graphical user interface 1218 (GUI). In other embodiments, the input / output interface 1210 (I / O), input device 1212, and output device 1214 may not be included, and the scheduling device 1200 may simply serve as a computer device in a network. The scheduling device 1200 may also include one or more network interfaces 1220 for exchanging data with other devices via one or more communication links 1222. One or more communication buses 1224 couple the components described above together.

[0210] The communication link 1222 may be implemented in any manner, for example, via a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication link 1222 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0211] For the convenience of description, the above devices are described in terms of functions and are divided into various units for separate description. Of course, when implementing this specification, the functions of each unit can be implemented in the same one or more software and / or hardware. This application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products of some embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processor to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processor generate instructions for implementing the functions in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0212] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processor to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, the instruction device being implemented in the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0213] These computer program instructions can also be loaded onto a computer or other programmable data processor so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0214] In a typical configuration, a computer device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0215] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0216] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computer device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0217] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0218] Embodiments of this specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. Embodiments of this specification may also be practiced in distributed computing environments where tasks are performed by remote processors connected via a communications network. In distributed computing environments, program modules may be located in local and remote computer storage media, including storage devices.

[0219] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between the various embodiments can be referenced across them. Each embodiment focuses on the differences from other embodiments. In particular, since the system embodiments are generally similar to the method embodiments, their description is relatively simple. For relevant parts, reference can be made to the description of the method embodiments. Throughout this specification, reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the embodiments in this specification. In this specification, the schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and integrate the different embodiments or examples, and features of different embodiments or examples, described in this specification, without conflict.

[0220] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A multi-machine collaboration method, characterized in that: include: At a first autonomous robot, wherein the first autonomous robot is an autonomous robot with a scheduling function; Performing operations on the ground in the working area and monitoring the surrounding environment during the operations, if an abnormal condition is detected in the surrounding environment, the first autonomous robot collects information about the abnormal condition, and based on the information about the abnormal condition, determines whether the abnormal condition affects the normal operation of the first autonomous robot, so as to determine whether the abnormal condition needs to be processed, wherein the abnormal condition refers to an unexpected condition during the operation of the first autonomous robot; If processing is required, the first autonomous robot determines a work strategy required to eliminate the abnormal condition, and determines whether the abnormal condition can be processed independently based on the work strategy and the type of work that the first autonomous robot can process by itself; When the abnormal situation cannot be handled independently, the first autonomous robot receives status information of other devices and determines whether there is a second autonomous robot in the Internet of Things that can handle the abnormal situation independently according to the status information; When there is a second autonomous robot in the Internet of Things that can independently handle the abnormal situation, the first autonomous robot sends a scheduling instruction to the second autonomous robot, the scheduling instruction including a scheduling path for the second autonomous robot to reach a designated location, so that the second autonomous robot reaches the designated location according to the scheduling instruction to handle the abnormal situation; When the second autonomous robot capable of independently handling the abnormal condition does not exist in the Internet of Things, the first autonomous robot retrieves the pre-stored position information of the work head station and the work head list of the work head station, wherein the work head station has a plurality of work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identification, or each work head is provided with a work head identification, and the work head identification includes the work head type or the work type information that the work head can perform; When there is a work head in the work head list that can eliminate the abnormal condition, an autonomous robot that can identify the work head identification is selected from other devices based on the feedback status information, and a replacement instruction is sent to the autonomous robot. The replacement instruction includes the return path of the autonomous robot to the work head station and the work head identification of the work head that can eliminate the abnormal condition. The autonomous robot replaces the work head that can eliminate the abnormal condition according to the replacement instruction.

2. The multi-machine collaboration method according to claim 1, characterized in that: The method further comprises: The first autonomous robot receives a processed signal sent by the second autonomous robot, the processed signal being sent by the second autonomous robot after processing the abnormal condition; The first autonomous robot sends a return instruction to the second autonomous robot, and the return instruction includes a return path for the second autonomous robot to return to the position before processing the abnormal condition, so that the second autonomous robot returns to the position before processing the abnormal condition according to the return instruction to continue to perform the interrupted operation of the second autonomous robot.

3. The multi-machine collaboration method according to claim 2, characterized in that: The method further comprises: When the waiting time after the first autonomous robot sends a scheduling instruction to the second autonomous robot reaches a preset waiting time, or when the first autonomous robot receives a reply signal fed back by the second autonomous robot, the first autonomous robot drives away from the target position when the abnormal condition is detected and continues to perform its own operation.

4. The multi-machine collaboration method according to claim 3, characterized in that: The method further comprises: When the first autonomous robot receives the processed signal sent by the second autonomous robot, the first autonomous robot returns to the target position at a specified time and performs operations on the target position or an area within a preset range of the target position.

5. The multi-machine collaboration method according to claim 1, characterized in that: The step of determining whether there is a second autonomous robot in the Internet of Things that can independently handle the abnormal situation according to the state information includes: The first autonomous robot determines, based on the state information, whether there is an autonomous robot in other equipment whose work type can be performed and matches the work type of eliminating the abnormal condition or whose functional components match the functional components of eliminating the abnormal condition, and if the result is yes, determines that the autonomous robot meets the assistance condition; If there is only one autonomous robot that meets the assistance condition, determining the autonomous robot that meets the assistance condition as the second autonomous robot; If there are multiple autonomous robots that meet the assistance condition, one autonomous robot is selected from the multiple autonomous robots that meet the assistance condition as the second autonomous robot according to a first screening rule.

6. The multi-machine collaboration method according to claim 1, characterized in that: When the other device includes an autonomous robot, the first autonomous robot sends an assistance request via a v2v communication protocol.

7. A multi-machine collaboration method, characterized in that: include: receiving an assistance request sent by a first autonomous robot; the assistance request is performed by the first autonomous robot on the ground in the working area, monitoring the surrounding environment during the operation, and if an abnormal condition is detected in the surrounding environment, the first autonomous robot collects information about the abnormal condition, and determines whether the abnormal condition affects the normal operation of the first autonomous robot based on the information about the abnormal condition, so as to determine whether the abnormal condition needs to be processed, and if it needs to be processed and it is confirmed that it cannot be processed independently, the assistance request is sent; Receiving status information of other devices, and determining whether there is a second autonomous robot in the Internet of Things that can independently handle the abnormal situation according to the status information; When there is a second autonomous robot in the Internet of Things that can independently handle abnormal conditions, a dispatch instruction is sent to the second autonomous robot, the dispatch instruction including a dispatch path for the second autonomous robot to reach a designated location, so that the second autonomous robot reaches the designated location according to the dispatch instruction to handle the abnormal condition; When there is no second autonomous robot capable of independently handling abnormal conditions in the Internet of Things, the position information of the pre-stored work head station and the work head list of the work head station are retrieved, wherein the work head station has a plurality of work head placement positions, each placement position is pre-placed with at least one work head, each work head placement position is provided with a work head identification, or each work head is provided with a work head identification, and the work head identification includes the work head type or the work type information that the work head can perform; When there is a work head that can eliminate the abnormal condition in the work head list, an autonomous robot that can identify the work head identification is selected from other devices according to the feedback status information, and a replacement instruction is sent to the autonomous robot. The replacement instruction includes the return path of the autonomous robot to the work head station and the work head identification of the work head that can eliminate the abnormal condition. The autonomous robot replaces the work head that can eliminate the abnormal condition according to the replacement instruction to handle the abnormal condition.

8. A scheduling device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that: When the computer program is executed by the processor, the computer program executes the instructions of the method according to any one of claims 1 to 7.

9. A multi-machine collaborative system, characterized in that: The invention comprises a plurality of autonomous robots, which are interconnected to form an Internet of Things, wherein each autonomous robot in the Internet of Things implements multi-machine collaboration according to the method described in any one of claims 1 to 7.

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