A mobile robot system for automatic task handover and a task handover method

Abstract

This invention belongs to the field of intelligent mobile robots, specifically relating to a mobile robot system and method for automatic task handover. The automatic task handover mobile robot system includes a caller and at least two mobile robots. The caller issues production tasks to the mobile robots. When a mobile robot malfunctions or requires recharging, it automatically communicates with the other robot to hand over the ongoing production task, allowing it to complete the task in question. This system provides a simple, low-cost solution that can avoid production interruptions caused by mobile robot failures. With its low cost and minimal deployment steps, it is suitable for use in less complex industrial applications, assisting human workers in performing tasks.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent mobile robots, and in particular relates to an automatic task handover mobile robot system and a task handover method. Background Art

[0002] Intelligent mobile robots are often used on industrial production lines to complete mobile operation tasks and have become an indispensable part of the production line.

[0003] During a mobile robot's operation, it may temporarily be unable to continue its work due to various reasons, such as a malfunction or low battery. However, in factory production lines, production interruptions are often unacceptable. Existing technologies often have redundant mobile robots on standby. Typically, when multiple mobile robots operate in the same area, a mobile robot group control and scheduling system coordinates, monitors, and directs the movements of each robot. If a mobile robot malfunctions or needs to be recharged due to low battery, the group control and scheduling system detects this and, based on specific rules, arranges for another mobile robot to take over, allowing the robot to continue its work.

[0004] Many manufacturing companies still have semi-automated, and even fully automated, production lines that still require manual assistance. With the emergence of labor shortages and the rise of robots replacing humans, robots are replacing human tasks in these scenarios. However, deploying multiple robots and their group control and scheduling systems in such production scenarios requires modifications or adjustments to the existing environment and equipment. This requires a considerable initial investment in manpower, time, and capital for on-site deployment of the robot systems, making this unacceptable to many manufacturers. Robot systems without group control and scheduling systems are popular with some manufacturers due to their lower cost, minimal requirements for environmental and equipment modifications, and rapid deployment. However, the deployment, transmission, and data exchange methods of these robot systems without group control and scheduling systems are necessarily different from those of robot systems with group control and scheduling systems. Summary of the Invention

[0005] In light of this, the present invention proposes a mobile robot system and method for automatic task handover. The automatic task handover mobile robot system includes a caller and at least two mobile robots. The caller issues production tasks to the mobile robots. When a mobile robot malfunctions or requires recharging, it automatically communicates with the other robot to hand over the ongoing production task, allowing the second robot to complete the task in question. This system provides a simple, low-cost solution that can avoid production interruptions caused by mobile robot failures. With its low cost and minimal deployment steps, it is suitable for use in less complex industrial applications, assisting human operators in performing tasks.

[0006] In order to achieve the above technical objectives, the specific technical solutions adopted by the present invention are:

[0007] A mobile robot system for automatic task handover, comprising:

[0008] A summoner, used to generate summoning instructions based on manual control;

[0009] At least two mobile robots, both communicating with the summoner and executing production actions on the workpiece based on the summoning instruction;

[0010] Wherein: each of the mobile robots is equipped with a fault monitoring module and a task handover module; when the fault monitoring module of the mobile robot that is executing the production action detects that it cannot complete the remaining actions of the production action, it establishes communication with the mobile robot in the standby state and transmits the handover instruction based on the task handover module; the mobile robot in the standby state takes over and completes the remaining actions based on the handover instruction.

[0011] Furthermore, the fault monitoring module includes:

[0012] A control circuit power supply monitoring circuit, used for monitoring the control circuit power supply of the mobile robot;

[0013] A battery power monitoring circuit, used to monitor the battery power of the mobile robot;

[0014] A driving wheel encoder signal monitoring circuit, used for monitoring the driving wheel encoder signal of the mobile robot;

[0015] An actuator travel sensor signal monitoring circuit, used for monitoring the travel sensor signal of the actuator of the mobile robot on the workpiece;

[0016] A monitoring circuit processing device determines whether the mobile robot can complete the remaining actions of the production action based on the monitoring signals of the control circuit power monitoring circuit, the battery power monitoring circuit, the drive wheel encoder signal monitoring circuit and the actuator stroke sensor signal monitoring circuit.

[0017] Furthermore, the fault monitoring module also includes a communication signal monitoring circuit for monitoring the communication signal of the mobile robot.

[0018] Furthermore, the handover instruction includes the position information of the mobile robot that cannot complete the remaining actions and the summoning instruction or the remaining tasks of the summoning instruction.

[0019] Furthermore, the summoner is also used to display whether each of the mobile robots is in a standby state.

[0020] Furthermore, the automatic task handover mobile robot system also includes a charging station, and the mobile robot moves to the charging station after completing the production action.

[0021] Furthermore, the mobile robot is also provided with a self-diagnosis module; the self-diagnosis module is used to generate an alarm signal, perform fault self-processing instructions and / or generate a status update signal based on the reason why the remaining actions cannot be completed.

[0022] Furthermore, the mobile robot generates an audible and visual alarm after receiving an alarm signal from its own fault monitoring module;

[0023] The mobile robot moves to the charging station after receiving a fault self-processing instruction from its own fault monitoring module;

[0024] The mobile robot receives a status update signal from its own fault monitoring module and marks the status of the mobile robot as fault.

[0025] The present invention also proposes a task handover method based on the above-mentioned automatic task handover mobile robot system, which is characterized by comprising the following steps:

[0026] S101: The mobile robot that is unable to perform the remaining actions queries the second robot based on the enabling of the task handover module;

[0027] S102: The mobile robot that cannot execute the remaining actions establishes point-to-point communication with the queried second robot;

[0028] S103: The mobile robot that is unable to perform the remaining actions sends its own position information and its own task data to the second robot with which point-to-point communication has been established;

[0029] S104: After receiving the local position information and local task data, the second robot sends a confirmation message to the mobile robot that cannot perform the remaining actions for confirmation, and then moves to the position of the mobile robot that cannot perform the remaining actions to complete the remaining actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of a state in which communication occurs between two mobile robots in a specific embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the movement of two mobile robots in the process of taking over and completing production actions in a specific embodiment of the present invention;

[0033] Figure 3 This is the workflow after the second robot is handed over the remaining actions in a specific embodiment of the present invention;

[0034] Figure 4 This is a module diagram of an automatic handover mobile robot system in a specific embodiment of the present invention;

[0035] Figure 5 This is a system block diagram of a fault monitoring module in a specific embodiment of the present invention;

[0036] Figure 6 This is a system block diagram of a self-diagnosis module in a specific embodiment of the present invention;

[0037] Figure 7 This is a logic block diagram of the operation of a faulty robot in a specific embodiment of the present invention;

[0038] Figure 8 A logic block diagram of the mobile robot operation for performing the remaining tasks in a specific embodiment of the present invention;

[0039] Among them: 1. Summoner; 2. First robot; 3. Charging station; 4. Material box; 5. Material storage area; 6. Production line; 7. Second robot. DETAILED DESCRIPTION

[0040] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present invention, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0043] It should also be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. The illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0044] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

[0045] In one embodiment of the present invention, a mobile robot system for automatic task handover is proposed. Figure 4 Shown, including:

[0046] The summoner 1 is provided on the production line 6 and is used to generate a summon instruction based on manual control; the summon instruction includes a process that can be completed by the material box 4 or other movable mobile robots, which is not limited here;

[0047] At least two mobile robots communicate with the summoner 1 and perform production actions on the workpiece based on the summoning instructions;

[0048] Among them: each mobile robot is equipped with a fault monitoring module and a task handover module; when the fault monitoring module of the mobile robot that is performing a production action detects that it cannot complete the remaining actions of the production action, it establishes communication with the mobile robot in the standby state and transmits the handover instruction based on the task handover module; the mobile robot in the standby state takes over and completes the remaining actions based on the handover instruction.

[0049] In this embodiment, the communication method between the summoner 1 and the mobile robot, and between two mobile robots is preferably wireless communication, and the communication method is WIFI, Internet of Things, etc., which is not specifically limited here.

[0050] In this embodiment, the mobile robot that executes the production instruction is selected by the summoner 1, and the production instruction is transmitted after the selection. After receiving the production instruction, the mobile robot starts to execute the production action. When a fault occurs or the power is insufficient and the remaining actions cannot be completed, the task handover module is started, such as Figure 7 As shown, point-to-point communication is generated with the second robot 7 (as Figure 1 As shown), the handover instruction is transmitted, and the handover instruction includes the position information of the mobile robot (first robot 2) that cannot complete the remaining actions and the call instruction or the remaining tasks of the call instruction. Figure 3 As shown, when the second robot 7 receives the handover instruction, it parses the handover instruction; then it performs a "handshake". After the handshake is successful, it moves to the first robot 2 based on the position information, and takes over the first robot 2 that has failed or is low on power to perform the remaining task actions.

[0051] In this embodiment, if Figure 5 As shown, the fault monitoring module includes:

[0052] A control circuit power supply monitoring circuit is used to monitor the control circuit power supply of the mobile robot;

[0053] A battery power monitoring circuit is used to monitor the battery power of the mobile robot;

[0054] A driving wheel encoder signal monitoring circuit is used to monitor the driving wheel encoder signal of the mobile robot;

[0055] An actuator travel sensor signal monitoring circuit is used to monitor the travel sensor signal of the actuator of the mobile robot on the workpiece;

[0056] The monitoring circuit processing device determines whether the mobile robot can complete the remaining actions of the production action based on the monitoring signals of the control circuit power monitoring circuit, the battery power monitoring circuit, the drive wheel encoder signal monitoring circuit and the actuator stroke sensor signal monitoring circuit.

[0057] In this embodiment, the fault monitoring module further includes: a communication signal monitoring circuit for monitoring the communication signal of the mobile robot.

[0058] In this embodiment, the summoner 1 is also used to display whether each mobile robot is in a standby state.

[0059] In this embodiment, the automatic task handover mobile robot system further includes a charging station 3 , and the mobile robot moves to the charging station 3 after completing the production action.

[0060] In one embodiment, the mobile robot is further provided with a self-diagnosis module; the operation logic of the self-diagnosis module is as follows: Figure 6 As shown, the self-diagnosis module is used to generate an alarm signal, perform a fault self-processing instruction and / or generate a status update signal based on the reason that the remaining actions cannot be completed.

[0061] In this embodiment, the mobile robot generates an audible and visual alarm after receiving an alarm signal from its own fault monitoring module. The mobile robot moves to the charging station 3 after receiving the fault self-processing instruction. The mobile robot receives a status update signal to mark the status of the mobile robot as faulty.

[0062] Based on the same inventive concept, in one embodiment of the present invention, a mobile robot task handover method implemented by the automatic handover mobile robot system according to the above embodiment is provided, such as Figure 7 As shown, the following steps are included:

[0063] S101: The mobile robot (first robot 2) that cannot execute the remaining actions queries the mobile robot (second robot 7) in the standby state based on the enablement of the task handover module;

[0064] S102: The mobile robot that cannot perform the remaining actions establishes point-to-point communication with the queried mobile robot in the standby state;

[0065] S103: The mobile robot that is unable to perform the remaining actions sends its own position information and its own task data to the mobile robot in the standby state with which point-to-point communication has been established.

[0066] S104: After receiving its own position information and task data, the mobile robot in standby state sends a confirmation message to the mobile robot that cannot perform the remaining actions for confirmation, and then moves to the position of the mobile robot that cannot perform the remaining actions to complete the remaining actions.

[0067] The following further describes the automatic handover mobile robot system for the production task of transporting material box 4:

[0068] The technical solution of this embodiment is directed to a method for task handover between mobile robots without a group control scheduling system.

[0069] In this embodiment, after a mobile robot (first robot 2) malfunctions, it automatically transmits the production task received from the caller 1 to another mobile robot (second robot 7). Specifically, the two mobile robots successfully communicate by handshaking, with the standby mobile robot entering the task acceptance state. The other mobile robot then sends: 1) its current location, and 2) the work order to the standby mobile robot. After receiving this data, the standby mobile robot converts the trajectory plan to its own based on the trajectory plan and the relationship between its own position and that of the sending mobile robot. It then returns a confirmation message to the sending mobile robot and begins to leave the charging station 3 and head for the work area. Simultaneously, the sending mobile robot returns to the charging station 3 to recharge. The entire process involves only data exchange between the two mobile robots. Just like two workers handing over work, after verbally or in writing clearly explaining the tasks to be taken over, the replacement worker continues to work while the previous worker leaves.

[0070] This embodiment uses WIFI wireless network (or mobile communication data) to connect two mobile robots for communication. Figure 1 shown.

[0071] When the mobile robots successfully communicate by handshake, the first robot sends to the second robot: 1) its current location data, and 2) the transfer task work order.

[0072] A map of the same work scene is pre-established in the second robot 7. The first robot 2 sends its current location information; then, the first robot 2 sends the work task to the second robot 7. When the second robot 7 successfully receives this data, it returns a confirmation message to the first robot 2, and then begins to move to the current location of the first robot 2, starting the work program, and the first robot 2 moves to the charging station 3. Figure 2 shown.

[0073] When the first robot 2 that is working is low on power (or suddenly fails) and cannot continue working, it needs to send an invitation to the second robot 7 and transmit its own location and task list. After the second robot 7 successfully receives and confirms it, it goes to the location of the first robot 2 where the failure occurred to take over the work, while the low-power mobile robot goes to charge; for different types of failures, the mobile robot may adopt different handling methods, which will be described in detail later.

[0074] Figure 4This diagram shows a factory automation production line scenario with an automated mobile robot system. The mobile robot is used to transfer material boxes 4 to storage areas 5, with charging stations 3 located within the scene.

[0075] When a worker at a certain workstation clicks the call button on the call device 1, the corresponding mobile robot in standby state will go to the workstation area by itself to perform the material box transfer task.

[0076] As for technical details such as how to transfer, they are not within the scope of the technical solution of this embodiment. This embodiment only solves the problem of how to smoothly hand over the transfer task to other mobile robots when the mobile robot encounters an emergency during the transfer process and cannot continue to operate, so as to complete the transfer task.

[0077] like Figure 4 As shown, without a group control system for unified coordination, this type of mobile robot system uses another operating mechanism (Summoner 1 mechanism) to complete the work scheduling of multiple mobile robots. When a mobile robot is needed to transfer material box 4 at a certain workstation, the worker uses Summoner 1 to query the current status of each mobile robot and then selects an idle mobile robot to come. The selected mobile robot will then automatically go to the workstation.

[0078] The communication mode between Summoner 1 and the mobile robots is point-to-point. The current status of each mobile robot can be queried on the Summoner 1 interface.

[0079] Mobile robot built-in fault self-monitoring hardware circuit system, such as Figure 5 shown.

[0080] Figure 5 As shown, the monitoring hardware circuit includes a battery power monitoring circuit, a drive wheel encoder signal monitoring circuit, a robotic arm joint motor encoder signal monitoring circuit, a lifting mechanism stroke sensor signal monitoring circuit, a communication signal monitoring circuit, and a control circuit power monitoring circuit. All of these monitoring circuits monitor physical signals. The monitoring signal is input into the monitoring signal processing circuit system and converted into a data signal. The data signal is transmitted to the communication circuit system and reported to the mobile robot control system. After the mobile robot control system makes a decision through data processing, it returns the decision signal to the communication circuit system. The communication circuit system sends the alarm information through WIFI or a mobile data module to communicate with the summoner 1 or other mobile robots.

[0081] The mobile robot controller controls the behavior and actions of the mobile robot or makes decisions such as alarm output based on the status of the mobile robot.

[0082] like Figure 6 Shown is the block diagram of the mobile robot self-diagnosis module.

[0083] like Figure 6 As shown, the mobile robot control system performs different operations according to different fault states.

[0084] If the battery power is low, the task handover module is enabled. After the task handover is successful, the device goes to charging station 3 to charge and changes the state of the device to standby state.

[0085] For robot arm joint failure, after the handover task is completed, go to charging station 3 area, change the machine status to fault status, and wait for maintenance.

[0086] If the lifting mechanism and driving wheel fail, the movement will be stopped and the task handover module will be started. After the task handover with the mobile robot in the standby state is completed, the state of the machine will be updated to failure awaiting repair, and the state of the machine will be broadcasted, waiting for repair.

[0087] Communication failure means that the mobile robot cannot communicate normally with the outside world, which will not affect the execution of this transfer task. After the transfer task is completed, the photoelectric alarm on the fuselage will attract the attention of maintenance personnel to come for maintenance.

[0088] In this embodiment, the task handover function is realized by communication between two mobile robots, which is point-to-point communication.

[0089] Although the technical solution of this embodiment does not have a group control scheduling system, there is one thing that is necessary, that is, the status of each mobile robot can be queried by the summoner 1 or by other mobile robots. This is the prerequisite for the realization of the task handover function.

[0090] That is to say, the status of any mobile robot can be queried by any summoner 1 or other mobile robots.

[0091] However, there is only one mobile robot in the "standby" state for redundancy, that is, only the mobile robot marked as the "standby" state can accept task orders from other mobile robots.

[0092] like Figure 7 The figure shows the control flow chart of the task handover process.

[0093] like Figure 7 As shown in the figure, after successfully establishing point-to-point communication with the "standby" mobile robot, the mobile robot first sends its location information, and then sends its task data to the "standby" mobile robot. After the standby mobile robot successfully receives these data, it returns confirmation information to the sending mobile robot.

[0094] If no confirmation message is received after a certain period of time, the message will be sent again. This will be repeated a certain number of times (which can be set). If the return message cannot be confirmed, the communication fails and the sending mobile robot will trigger the local sound and light alarm and wait for maintenance.

[0095] After the "standby" mobile robot successfully receives the data, it parses the data, locates its current position, calculates the relationship and distance between its current position and the position of the sender's mobile robot, and plans a walking path, preparing to go to the location of the sender's mobile robot.

[0096] When the "standby" mobile robot arrives near the location of the sending mobile robot, it is ready to take over the remaining transfer tasks based on the analyzed task data.

[0097] At this time, if the faulty mobile robot is in a loaded state, it has automatically lowered the lifting device, placed the material box 4 in place, and then left for the charging station 3; and the "standby" mobile robot will automatically adjust its body posture to drag the material box 4, and continue to transport it to the specified place.

[0098] All mobile robots have built-in work scene maps in advance.

[0099] like Figure 8 The figure shows the internal control flow diagram of the "standby" mobile robot after receiving a successful task handover.

[0100] The "standby" mobile robot sets the location of the sending mobile robot as the first target location and the final target location of the sending mobile robot's mission as the second target location. When the mobile robot reaches the first target location and places the material box 4 on its load-bearing platform, it starts executing the control program to complete the second target location.

[0101] In this embodiment, the summoner 1 is located at each operating station and is used to manually summon a mobile robot to transfer the material box 4 when a transfer task is required.

[0102] The current status of each mobile robot can be queried on the summoner 1, and the mobile robot in the "standby" state can be selected and summoned.

[0103] The summoning operation is completed through point-to-point communication between the summoner 1 and the mobile robot. When you need to query the status of a mobile robot, you can click on it to query its status. In some scenarios, you can also set the summoner 1 to automatically poll the status of each mobile robot at a fixed time and display it on the summoner 1 interface.

[0104] The summoner 1 can be a mobile phone APP that communicates with the mobile robot through mobile phone WIFI, 4G or 5G signals.

[0105] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A mobile robot system for automatic task handover, characterized in that: include: A summoner, used to generate a summon instruction based on manual control; At least two mobile robots, both communicating with the summoner and executing production actions on the workpiece based on the summoning instruction; Wherein: each of the mobile machines is equipped with a fault monitoring module and a task handover module; When the fault monitoring module of the mobile robot that is performing the production action detects that the remaining actions of the production action cannot be completed, the task handover module is started, queries the mobile robot in the standby state, and establishes point-to-point communication with the mobile robot in the standby state, and directly transmits the handover instruction to the mobile robot in the standby state based on the task handover module; the mobile robot in the standby state takes over to complete the remaining actions based on the handover instruction directly issued point-to-point by the faulty mobile robot.

2. The automatic handover mobile robot system according to claim 1, characterized in that: The fault monitoring module includes: A control circuit power supply monitoring circuit, used for monitoring the control circuit power supply of the mobile robot; A battery power monitoring circuit, used to monitor the battery power of the mobile robot; A driving wheel encoder signal monitoring circuit, used for monitoring the driving wheel encoder signal of the mobile robot; An actuator travel sensor signal monitoring circuit, used for monitoring the travel sensor signal of the actuator of the mobile robot on the workpiece; A monitoring circuit processing device determines whether the mobile robot can complete the remaining actions of the production action based on the monitoring signals of the control circuit power monitoring circuit, the battery power monitoring circuit, the drive wheel encoder signal monitoring circuit and the actuator stroke sensor signal monitoring circuit.

3. The automatic task handover mobile robot system according to claim 2, characterized in that: The fault monitoring module also includes a communication signal monitoring circuit for monitoring the communication signal of the mobile robot.

4. The automatic task handover mobile robot system according to claim 1, characterized in that: The handover instruction includes the position information of the mobile robot that cannot complete the remaining actions and the summon instruction or the remaining tasks of the summon instruction.

5. The automatic task handover mobile robot system according to claim 1, characterized in that: The summoner is also used to display whether each of the mobile robots is in a standby state.

6. The automatic task handover mobile robot system according to claim 1, characterized in that: The automatic task handover mobile robot system also includes a charging station, and the mobile robot moves to the charging station after completing the production action.

7. The automatic task handover mobile robot system according to claim 1, characterized in that: The mobile robot is also provided with a self-diagnosis module; the self-diagnosis module is used to generate an alarm signal, perform a fault self-processing instruction and / or generate a status update signal based on the reason why the remaining actions cannot be completed.

8. The automatic task handover mobile robot system according to claim 6 or 7, characterized in that: The mobile robot generates an audible and visual alarm after receiving an alarm signal from its own fault monitoring module; The mobile robot moves to the charging station after receiving a fault self-processing instruction from its own fault monitoring module; The mobile robot receives a status update signal from its own fault monitoring module and marks the status of the mobile robot as fault.

9. A task handover method for a mobile robot system with automatic task handover according to any one of claims 1 to 8, characterized in that: The following steps are involved: S101: The mobile robot that is unable to perform the remaining actions queries the second robot based on the enabling of the task handover module; S102: The mobile robot that cannot execute the remaining actions establishes point-to-point communication with the queried second robot; S103: The mobile robot that is unable to perform the remaining actions sends its own position information and its own task data to the second robot with which point-to-point communication has been established; S104: After receiving the local position information and local task data, the second robot sends a confirmation message to the mobile robot that cannot perform the remaining actions for confirmation, and then moves to the position of the mobile robot that cannot perform the remaining actions to complete the remaining actions.

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