Multi-robot cooperative scheduling method, system and device and storage medium

Abstract

The application discloses a kind of multi-robot mutual cooperation scheduling method, system, device and storage medium, comprising: obtaining the preset path of local machine and the preset path set of other robots in the preset range, and determining the mutual relationship between local machine and other robots according to the preset path and the preset path set;According to the preset path and the preset path set, the path connection relationship between the local machine and other robots is determined;According to the mutual relationship and the path connection relationship, other robots are divided into relevant group and irrelevant group;According to the mutual relationship, the robot in relevant group and local machine form scheduling scheme between;Select the highest scheduling scheme in scheduling scheme as the final execution scheme.This embodiment of the application can realize mutual coordination between multi-robot scheduling, reduce congestion or collision, and can be widely applied to mobile robot technical field.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and in particular to a scheduling method, system, device, and storage medium for multi-robot collaboration. Background Technology

[0002] In the complex environment of a restaurant, robots need to be given a fixed path beforehand, and then use a shortest path search algorithm to find a suitable route for delivery. However, when there are multiple robots, it is unavoidable that any two or more robots will meet or pass through narrow sections at the same time, which can easily cause blockages or collisions. Summary of the Invention

[0003] In view of this, the purpose of this invention is to provide a scheduling method, system, device and storage medium for multiple robots to cooperate with each other, so as to reduce blockage or collision.

[0004] In a first aspect, embodiments of the present invention provide a scheduling method for multi-robot cooperation, comprising:

[0005] The system acquires a preset path for the robot and a preset path set for other robots within a preset range, and determines the relationship between the robot and other robots based on the preset path and the preset path set. The relationship includes unrelated, following, moving towards each other, entering a fork in the road, leaving a fork in the road, entering the target point of another robot, two robots reaching the target point simultaneously towards each other, and merging at two forks in the road. The path and path set are determined based on a path network, which includes any one of a one-way road, a passing road, or a two-way road.

[0006] The path connection relationship between the machine and other robots is determined according to the preset path and the preset path set; the path connection relationship includes any one of the following: unrelated, other robots are on the machine's path points, other robots and the machine pass through the fork in the road at the same time, or other robots enter the machine's target point at the same time.

[0007] Based on the interrelationships and path connections, other robots are divided into relevant groups and unrelated groups;

[0008] Based on the aforementioned interrelationships, a scheduling scheme will be formed between the robots in the relevant groups and the local machine;

[0009] The scheduling scheme with the highest priority is selected as the final execution scheme.

[0010] Optionally, the step of dividing other robots into related groups and unrelated groups based on the mutual relationships and the path connection relationships specifically includes:

[0011] Other robots whose mutual relationships are unrelated, whose path connection relationships are unrelated, or whose paths are separated are divided into unrelated groups;

[0012] Other robots that have mutual relationships or path connections and are without gaps are divided into related groups.

[0013] Optionally, the step of forming a scheduling scheme between the robots in the relevant groups and the local machine based on the interrelationships specifically includes:

[0014] If the relationship between this machine and other robots is follow, set the scheduling scheme to follow;

[0015] If the relationship between this machine and other robots is that they converge at two forks in the road, set the scheduling scheme to deceleration.

[0016] If the relationship between this machine and other robots is to enter the target point of other robots, the scheduling scheme is determined according to the movement state of other robots; the movement state includes any one of the following: moving to the side, following, switching paths to the relay point, or stopping.

[0017] If the relationship between this machine and other robots is that two robots arrive at the target point simultaneously in opposite directions, the scheduling scheme is determined based on the distance between this machine and other robots or the motion state of other robots.

[0018] If the relationship between this machine and other robots is that they enter a fork in the road, the scheduling scheme is determined based on the motion status of the other robots.

[0019] If the relationship between this machine and other robots is that they are leaving a fork in the road, the scheduling scheme is determined based on the path network and / or motion status of other robots.

[0020] If the relationship between this machine and other robots is that they are moving in opposite directions, the scheduling scheme is determined based on the path network and operating status of this machine and other robots.

[0021] Optionally, if the relationship between the local robot and other robots is that two robots arrive at the target point simultaneously towards each other, the scheduling scheme is determined based on the distance between the local robot and other robots or the motion state of other robots, specifically including:

[0022] If the distance from this machine to other robots is the first preset value, and the distance from this machine to the target point of other robots is less than the distance from other robots to the target point of this machine, the scheduling scheme will be set to stop.

[0023] If the movement state of other robots is to switch paths to relay points, set the scheduling scheme to stop.

[0024] Optionally, if the relationship between the local robot and other robots is that they are leaving a fork in the road, the scheduling scheme is determined based on the path network and / or motion state of the other robots, specifically including:

[0025] If other robots are on a one-way street, set the scheduling scheme to stop;

[0026] If other robots are in the lane and their movement is not to the side, set the scheduling scheme to stop.

[0027] If other robots are in the passing lane and their movement status is to be on the side of the road, the scheduling scheme will be set to allow passing vehicles to pass.

[0028] If other robots are in the state of switching paths to relay points, set the scheduling scheme to switch paths to relay points.

[0029] Optionally, if the relationship between this robot and other robots is one of moving in opposite directions, a scheduling scheme is determined based on the path network and operating status of this robot and other robots, specifically including:

[0030] If the machine is on a two-lane road and the distance between the machine and the two-lane road is less than the second preset value, the scheduling scheme will be set to stop.

[0031] If this machine is in the lane for passing other robots and other robots are in the one-way lane, set the scheduling scheme to the side;

[0032] If this machine is in the passing lane and other robots are in the passing lane and their running status is "closed to the side", the scheduling scheme will be set to allow passing vehicles to pass.

[0033] If this robot is in the passing lane and other robots are in the passing lane and their running status is "passing", the scheduling scheme will be set to "side".

[0034] If the local machine is on a single lane, and other robots are in the operation status of switching paths to relay points or other robots are on a one-way street, set the scheduling scheme to switch paths to relay points.

[0035] If this robot is in a single lane and other robots are in the passing lane, the scheduling scheme will be set to allow passing vehicles to pass.

[0036] Secondly, embodiments of the present invention provide a scheduling system for multi-robot cooperation, comprising:

[0037] The first module is used to acquire the preset path of the local robot and the preset path set of other robots within a preset range, and to determine the relationship between the local robot and other robots based on the preset path and the preset path set; the relationship includes unrelated, following, moving towards each other, entering a fork in the road, leaving a fork in the road, entering the target point of another robot, two robots reaching the target point simultaneously towards each other, and merging at two forks in the road; the path and path set are determined based on a path network, which includes any one of a one-way road, a passing road, or a two-way road.

[0038] The second module is used to determine the path connection relationship between the local machine and other robots based on the preset path and the preset path set; the path connection relationship includes any one of the following: unrelated, other robots are on the local machine's path points, other robots and the local machine pass through the fork in the road at the same time, or other robots enter the local machine's target point at the same time.

[0039] The third module is used to divide other robots into related groups and unrelated groups based on the mutual relationships and the path connection relationships;

[0040] The fourth module is used to form a scheduling scheme between the robots in the relevant groups and the local machine based on the aforementioned interrelationships;

[0041] The fifth module is used to select the highest-priority scheduling scheme from the scheduling schemes as the final execution scheme.

[0042] Thirdly, embodiments of the present invention provide a scheduling device for multi-robot cooperation, comprising:

[0043] At least one processor;

[0044] At least one memory for storing at least one program;

[0045] When the at least one program is executed by the at least one processor, the at least one processor performs the method described above.

[0046] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to perform the methods described above.

[0047] Fifthly, embodiments of the present invention provide a scheduling system for multi-robot cooperation, comprising a plurality of robots, which operate within a preset range and communicate with each other; wherein each robot includes a communication device;

[0048] The communication device is used to collect motion and position information of other robots besides the one itself;

[0049] The computer device includes:

[0050] At least one processor;

[0051] At least one memory for storing at least one program;

[0052] When the at least one program is executed by the at least one processor, the at least one processor performs the method described above.

[0053] The implementation of this invention provides the following advantages: First, the preset spatial range is planned as a path network including one-way streets, passing lanes, and two-way streets. Preset paths for each robot are planned. For a single robot, its own preset path and the preset path set of other robots within the preset range are obtained. Based on the preset paths and preset path sets, the interrelationships and path connections between the robot and other robots are determined. Related groups with scheduling relationships are selected based on these relationships. Then, a scheduling scheme is formed between the robots in the related groups and the robot based on the interrelationships. Finally, the scheduling scheme with the highest priority is selected as the final execution scheme. Robots only need to be scheduled within the preset range, eliminating the need to respond to the scheduling of all robots in the scene, reducing computational load and improving response speed. Furthermore, planning the path network as one-way streets, passing lanes, and two-way streets increases the flexibility of robot operation. Finally, determining the final execution scheme based on the scheduling priority improves delivery efficiency. Attached Figure Description

[0054] Figure 1 This is a flowchart illustrating the steps of a scheduling method for multi-robot collaboration provided in an embodiment of the present invention.

[0055] Figure 2 This is a schematic diagram of a path grid provided in an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram illustrating the relationship between the robot and other robots according to an embodiment of the present invention;

[0057] Figure 4 This is a structural block diagram of a multi-robot collaborative scheduling system provided in an embodiment of the present invention;

[0058] Figure 5 This is a structural block diagram of a multi-robot collaborative scheduling device provided in an embodiment of the present invention;

[0059] Figure 6 This is another structural block diagram of a multi-robot collaborative scheduling system provided in an embodiment of the present invention. Detailed Implementation

[0060] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only for ease of explanation and do not limit the order of the steps. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.

[0061] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0062] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the invention described herein can be implemented in an order other than that illustrated or described herein.

[0063] Unless otherwise defined, all technical and scientific terms used in the embodiments of this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in the embodiments of this invention is for descriptive purposes only and is not intended to limit the invention.

[0064] like Figure 1 As shown, this embodiment of the invention provides a scheduling method for multi-robot cooperation, which includes steps S100 to S500.

[0065] S100: Obtain the preset path of the local machine and the preset path set of other robots within the preset range, and determine the mutual relationship between the local machine and other robots based on the preset path and the preset path set; the mutual relationship includes unrelated, following, moving towards each other, entering a fork in the road, leaving a fork in the road, entering the target point of other robots, two robots reaching the target point simultaneously towards each other, and merging at two forks in the road; the path and path set are determined based on a path network, and the path network includes any one of one-way streets, passing lanes, or two-way streets.

[0066] It should be noted that the preset path of this machine and the preset path set of other robots within the preset range are determined according to existing path calculation methods. The preset range is determined according to the actual application, and this embodiment does not impose specific limitations, such as a range of 50 meters or 10 meters.

[0067] It should be noted that the following conditions must be met before invoking the scheduling algorithm: 1. Establish a short-range communication network to enable data transmission and reception for the robot. The robot can receive data on the operating status and preset paths of other robots, and can also push its own relevant data. 2. Create a path network and set attributes for each point in the path network. Each path point includes, but is not limited to, attributes such as path type, path width, and speed. (See also...) Figure 2 The path network is determined based on the site where the robot moves, including but not limited to one-way streets (blue line segments), passing lanes (green line segments), or two-way streets (red line segments). Only one robot is allowed to pass at a time on a one-way street; when two vehicles meet on a passing lane, one vehicle moves to the side and the other vehicle passes; two-way streets allow two vehicles to pass at the same time.

[0068] Specifically, see Figure 3 ( Figure 3 In the process, the local robot is represented by a red path, and other robots are represented by blue paths. The system obtains the preset paths of the local robot and other robots. Based on the relationship between each pair of preset paths, the relationship can be divided into unrelated, following, moving towards each other, entering a fork in the road, leaving a fork in the road, reaching the target point, entering the target point of another robot, two robots moving towards each other and reaching the target point simultaneously, or two forks in the road merging into each other, etc.

[0069] S200. Determine the path connection relationship between the machine and other robots according to the preset path and the preset path set; the path connection relationship includes any one of the following: unrelated, other robots on the machine's path point, other robots passing through the fork in the road at the same time as the machine, or other robots entering the machine's target point.

[0070] Specifically, depending on whether other robots are connected to the local robot's path, if so, the mutual scheduling relationship is considered; otherwise, it is not. The connection relationship between other robots and the local robot's path is categorized as: unrelated, other robots are on the local robot's path points, other robots pass through forks in the road simultaneously with the local robot, or other robots enter the local robot's target point, etc.

[0071] S300. Based on the mutual relationships and the path connection relationships, divide the other robots into related groups and unrelated groups.

[0072] Specifically, based on the relationships and path connections between this machine and other robots, the other robots can be divided into unrelated groups and related groups. It should be noted that the preset paths of robots in the unrelated group do not need to participate in scheduling, while the preset paths of robots in the related group are scheduled according to demand.

[0073] Optionally, the step of dividing other robots into related groups and unrelated groups based on the mutual relationships and the path connection relationships specifically includes:

[0074] S310. Divide other robots whose mutual relationship is unrelated, whose path connection relationship is unrelated or interval into an unrelated group;

[0075] S320. Divide other robots that have mutual relationships or path connections and have no gaps into related groups.

[0076] Specifically, robots with unrelated path relationships, unrelated connection relationships, or those that are connected to the local robot but separated from it by other robots are classified into the unrelated group; in addition, the remaining robots that are related to the local robot and whose path connection relationships are not separated from the local robot by other robots are classified into the related group.

[0077] S400. Based on the aforementioned interrelationships, a scheduling scheme is formed between the robots in the relevant groups and the local machine.

[0078] Specifically, based on the relationship between the robot and other robots, and combined with the motion status and path information of the robot and other robots, a scheduling scheme is formed between the robot in the relevant group and the robot.

[0079] It should be noted that if the relationship between this machine and other robots is unrelated, the scheduling scheme should be set to allow passage.

[0080] Optionally, the step of forming a scheduling scheme between the robots in the relevant groups and the local machine based on the interrelationships specifically includes:

[0081] S410. If the relationship between this machine and other robots is follow, set the scheduling scheme to follow.

[0082] Specifically, see Figure 3 "Follow" indicates that the paths of the local robot and other robots overlap, but there is a time difference in the overlapping paths, so there will be no collision or blockage. Therefore, if the relationship between the local robot and other robots is "follow", the scheduling scheme will be set to "follow".

[0083] S420. If the relationship between this machine and other robots is that they converge at two forks, set the scheduling scheme to deceleration.

[0084] Specifically, see Figure 3 A fork in the road means that the robot and other robots enter the same path from different paths. Therefore, if the relationship between the robot and other robots is that they enter from two forks, setting the scheduling scheme to decelerate can reduce the probability of collisions or blockages.

[0085] S430. If the relationship between this machine and other robots is to enter the target point of other robots, determine the scheduling scheme according to the movement state of other robots; the movement state includes any one of moving to the side, following, switching paths to the relay point, or stopping.

[0086] Specifically, see Figure 3 Entering another robot's target point means that the other robot's target point is on the local robot's preset path. If the relationship between the local robot and another robot is that the local robot enters another robot's target point, and the other robot's state is not "parked" or "stopped," the scheduling scheme is set to "stopped." If the other robot's state is "switching paths to a relay point," the scheduling scheme is set to "stopped."

[0087] S440. If the relationship between this machine and other robots is that two robots arrive at the target point simultaneously in opposite directions, determine the scheduling scheme based on the distance between this machine and other robots or the motion state of other robots.

[0088] Specifically, see Figure 3 Simultaneous arrival at the target point indicates that the target point of the robot and other robots moving towards each other is the same and the arrival time is the same. If the relationship between the robot and other robots is that two robots arrive at the target point simultaneously, the scheduling scheme is determined based on the distance between the robot and other robots or the motion status of other robots.

[0089] Optionally, if the relationship between the local robot and other robots is that two robots arrive at the target point simultaneously towards each other, the scheduling scheme is determined based on the distance between the local robot and other robots or the motion state of other robots, specifically including:

[0090] S441. If the distance from this machine to other robots is the first preset value, and the distance from this machine to the target point of other robots is less than the distance from other robots to the target point of this machine, set the scheduling scheme to stop.

[0091] S442. If the motion state of other robots is to switch paths to relay points, set the scheduling scheme to stop.

[0092] Specifically, if the distance from the local machine to other robots is the set minimum value, and the distance from the local machine to the target point of other robots is less than the distance from other robots to the local machine's target point, then the scheduling scheme is set to stop; if the status of other robots is to switch paths to relay points, then the scheduling scheme is set to stop.

[0093] S450. If the relationship between this robot and other robots is that they enter a fork in the road, determine the scheduling scheme based on the motion status of the other robots.

[0094] Specifically, see Figure 3If this robot and other robots enter the intersection at the same time, and the movement status of the other robots is not "parking" or "stopping", then the scheduling scheme will be set to "stop".

[0095] S460. If the relationship between this robot and other robots is that they are leaving a fork in the road, determine the scheduling scheme based on the path network and / or motion status of other robots.

[0096] Specifically, see Figure 3 If other robots leave the fork in the road, a scheduling scheme is determined based on one or two of the other robots' path networks or motion states.

[0097] Optionally, if the relationship between this robot and other robots is that they are leaving a fork in the road, a scheduling scheme is determined based on the path network and / or motion state of the other robots, specifically including:

[0098] S461. If other robots are on a one-way street, set the scheduling scheme to stop.

[0099] S462. If other robots are in the lane and their movement state is not to the side, set the scheduling scheme to stop.

[0100] S463. If other robots are in the passing lane and their movement state is to the side, set the scheduling scheme to allow passing vehicles to pass.

[0101] S464. If the motion state of other robots is to switch paths to relay points, set the scheduling scheme to switch paths to relay points.

[0102] Specifically, if other robots are on a one-way street, the scheduling scheme is set to stop; if other robots are on a two-way street and their movement state is not to the side, the scheduling scheme is set to stop; if other robots are on a two-way street and their movement state is to the side, the scheduling scheme is set to allow oncoming traffic to pass; if the current robot's movement state is to the side, the scheduling scheme is set to stop and move to the side; if other robots' movement state is to switch paths to a relay point, the scheduling scheme is set to switch paths to a relay point.

[0103] It should be noted that the application scenarios for steps S461 to S463 are: the robot enters the fork in the road and other robots leave the fork in the road; the application scenario for step S464 is: the robot leaves the fork in the road and other robots switch paths to the relay point.

[0104] S470. If the relationship between this machine and other robots is that they move in opposite directions, determine the scheduling scheme based on the path network and operating status of this machine or other robots.

[0105] Specifically, see Figure 3 If the relationship between this robot and other robots is one of moving in opposite directions, the scheduling scheme is determined by combining the path network and operating status of this robot and other robots.

[0106] Optionally, if the relationship between the local robot and other robots is one of moving towards each other, a scheduling scheme is determined based on the path network and operating status of the local robot and other robots, as well as information such as distance. Specifically, this includes:

[0107] S471. If the machine is on a two-lane road and the distance between the machine and the two-lane road is less than the second preset value, the scheduling scheme shall be set to stop.

[0108] S472. If this machine is on the passing lane and other robots are on the one-way lane, set the scheduling scheme to the side.

[0109] S473. If this machine is in the passing lane and other robots are in the passing lane and their running status is "closed to the side", set the scheduling scheme to allow passing vehicles to pass.

[0110] S474. If this robot is in the passing lane and other robots are in the passing lane and their running status is passing, set the scheduling scheme to the side.

[0111] S475. If the machine is on a single lane and other robots are in the running state of switching paths to relay points or other robots are on a one-way street, set the scheduling scheme to switch paths to relay points.

[0112] S476. If this machine is in a single lane and other robots are in the passing lane, set the scheduling scheme to allow passing vehicles to pass.

[0113] Specifically, if the machine is on a two-way road and the distance between the machine and the two-way road is less than a given value, the scheduling scheme will be set to stop.

[0114] If this robot is in the passing lane and other robots are in the one-way lane, the scheduling scheme is set to "stay to the side"; if other robots are in the one-way lane and other robots are in the passing lane and their running status is "stay to the side", the scheduling scheme is set to "pass"; if other robots are in the passing lane and their running status is "pass", the scheduling scheme is set to "stay to the side"; if other robots are neither "stay to the side" nor "pass", the two are compared in terms of their priority levels. The robot with the higher priority level will pass, and the robot with the lower priority level will stay to the side. The robot with the higher priority level will be used as the final scheduling scheme.

[0115] If the robot is on a one-way street, and other robots are in the state of switching paths to a relay point, then the scheduling scheme is set to switch paths to a relay point; if other robots are on a one-way street, then the scheduling scheme is set to switch paths to a relay point; if other robots are on a passing lane, then the scheduling scheme is set to allow passing vehicles to pass.

[0116] S500: Select the highest-level scheduling scheme from the scheduling schemes as the final execution scheme.

[0117] Specifically, the scheduling schemes are sorted by level, with the last one being the highest. The order is: proceed, proceed when meeting oncoming traffic, follow, slow down, stop, pull over, and switch routes to a relay point. The local machine compares the scheduling schemes to be executed in the relevant groups, determines the highest level, and ultimately sends the decision with the highest level as the final output to the local machine for execution.

[0118] The implementation of this invention provides the following advantages: First, the preset spatial range is planned as a path network including one-way streets, passing lanes, and two-way streets. Preset paths for each robot are planned. For a single robot, its preset path and the preset path set of other robots within the preset range are obtained. Based on the preset paths and preset path sets, the interrelationships and path connections between the robot and other robots are determined. Related groups with scheduling relationships are selected based on these relationships. Then, a scheduling scheme is formed between the robots in the related groups and the robot based on the interrelationships. Finally, the scheduling scheme with the highest priority is selected as the final execution scheme. Only robots within the preset range need to be scheduled, eliminating the need to schedule all robots, reducing computational load and improving response speed. Furthermore, planning the path network as one-way streets, passing lanes, and two-way streets increases the flexibility of robot operation. Finally, determining the final execution scheme based on the scheduling priority improves delivery efficiency.

[0119] See Figure 4 This invention provides a scheduling system for multi-robot cooperation, comprising:

[0120] The first module is used to acquire the preset path of the local robot and the preset path set of other robots within a preset range, and to determine the relationship between the local robot and other robots based on the preset path and the preset path set; the relationship includes unrelated, following, moving towards each other, entering a fork in the road, leaving a fork in the road, entering the target point of another robot, two robots reaching the target point simultaneously towards each other, and merging at two forks in the road; the path and path set are determined based on a path network, which includes any one of a one-way road, a passing road, or a two-way road.

[0121] The second module is used to determine the path connection relationship between the local machine and other robots based on the preset path and the preset path set; the path connection relationship includes any one of the following: unrelated, other robots are on the local machine's path points, other robots and the local machine pass through the fork in the road at the same time, or other robots enter the local machine's target point at the same time.

[0122] The third module is used to divide other robots into related groups and unrelated groups based on the mutual relationships and the path connection relationships;

[0123] The fourth module is used to form a scheduling scheme between the robots in the relevant groups and the local machine based on the aforementioned interrelationships;

[0124] The fifth module is used to select the highest-priority scheduling scheme from the scheduling schemes as the final execution scheme.

[0125] It is evident that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0126] See Figure 5 This invention provides a scheduling device for multi-robot cooperation, comprising:

[0127] At least one processor;

[0128] At least one memory for storing at least one program;

[0129] When the at least one program is executed by the at least one processor, the at least one processor performs the method described above.

[0130] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. The memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include remote memory located remotely relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0131] It is evident that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented in this device embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0132] Furthermore, this application also discloses a computer program product or computer program stored in a computer-readable storage medium. A processor of a computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, causing the computer device to perform the described method. Similarly, the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0133] It is understood that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0134] See Figure 6 This invention provides a scheduling system for multi-robot collaboration, comprising several robots that operate within a preset range and communicate with each other; wherein each robot includes a communication device.

[0135] The communication device is used to collect motion and position information of other robots besides the one itself;

[0136] The computer device includes:

[0137] At least one processor;

[0138] At least one memory for storing at least one program;

[0139] When the at least one program is executed by the at least one processor, the at least one processor performs the method described above.

[0140] It is evident that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0141] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A scheduling method for multi-robot cooperation, characterized in that, include: The system acquires a preset path for the robot and a preset path set for other robots within a preset range, and determines the relationship between the robot and other robots based on the preset path and the preset path set. The relationship includes unrelated, following, moving towards each other, entering a fork in the road, leaving a fork in the road, entering the target point of another robot, two robots reaching the target point simultaneously towards each other, and merging at two forks in the road. The path and path set are determined based on a path network, which includes any one of a one-way road, a passing road, or a two-way road. The path connection relationship between the machine and other robots is determined according to the preset path and the preset path set; the path connection relationship includes any one of the following: unrelated, other robots are on the machine's path points, other robots and the machine pass through the fork in the road at the same time, or other robots enter the machine's target point at the same time. Based on the interrelationships and path connections, other robots are divided into relevant groups and unrelated groups; Based on the aforementioned interrelationships, a scheduling scheme will be formed between the robots in the relevant groups and the local machine; The scheduling scheme with the highest priority is selected as the final execution scheme. The step of dividing other robots into relevant and unrelated groups based on the interrelationships and path connections specifically includes: Other robots whose mutual relationships are unrelated, whose path connection relationships are unrelated, or whose paths are separated are divided into unrelated groups; Other robots that have mutual relationships or path connections and are without gaps are divided into related groups; The step of establishing a scheduling scheme between the robots in the relevant groups and the local machine based on the aforementioned interrelationships specifically includes: If the relationship between this machine and other robots is follow, set the scheduling scheme to follow; If the relationship between this machine and other robots is that they converge at two forks in the road, set the scheduling scheme to deceleration. If the relationship between this machine and other robots is to enter the target point of other robots, the scheduling scheme is determined according to the movement state of other robots; the movement state includes any one of the following: moving to the side, following, switching paths to the relay point, or stopping. If the relationship between this machine and other robots is that two robots arrive at the target point simultaneously in opposite directions, the scheduling scheme is determined based on the distance between this machine and other robots or the motion state of other robots. If the relationship between this machine and other robots is that they enter a fork in the road, the scheduling scheme is determined based on the motion status of the other robots. If the relationship between this machine and other robots is that they are leaving a fork in the road, the scheduling scheme is determined based on the path network and / or motion status of other robots. If the relationship between this machine and other robots is that they are moving in opposite directions, the scheduling scheme is determined based on the path network and operating status of this machine and other robots.

2. The method according to claim 1, characterized in that, If the relationship between the local machine and other robots is such that two robots arrive at the target point simultaneously towards each other, a scheduling scheme is determined based on the distance between the local machine and other robots or the motion state of other robots, specifically including: If the distance from this machine to other robots is the first preset value, and the distance from this machine to the target point of other robots is less than the distance from other robots to the target point of this machine, the scheduling scheme will be set to stop. If the movement state of other robots is to switch paths to relay points, set the scheduling scheme to stop.

3. The method according to claim 1, characterized in that, If the relationship between this robot and other robots is that they are leaving a fork in the road, a scheduling scheme is determined based on the path network and / or motion state of the other robots, specifically including: If other robots are on a one-way street, set the scheduling scheme to stop; If other robots are in the lane and their movement is not to the side, set the scheduling scheme to stop. If other robots are in the passing lane and their movement status is to be on the side of the road, the scheduling scheme will be set to allow passing vehicles to pass. If the motion state of other robots is to switch paths to relay points, set the scheduling scheme to switch paths to relay points.

4. The method according to claim 1, characterized in that, If the relationship between this robot and other robots is one of moving in opposite directions, a scheduling scheme is determined based on the path network and operating status of this robot and other robots, specifically including: If the machine is on a two-lane road and the distance between the machine and the two-lane road is less than the second preset value, the scheduling scheme will be set to stop. If this machine is in the lane for passing other robots and other robots are in the one-way lane, set the scheduling scheme to the side; If this machine is in the passing lane and other robots are in the passing lane and their running status is "closed to the side", the scheduling scheme will be set to allow passing vehicles to pass. If this robot is in the passing lane and other robots are in the passing lane and their running status is "passing", the scheduling scheme will be set to "side". If the local machine is on a single lane, and other robots are in the operation status of switching paths to relay points or other robots are on a one-way street, set the scheduling scheme to switch paths to relay points. If this robot is in a single lane and other robots are in the passing lane, the scheduling scheme will be set to allow passing vehicles to pass.

5. A scheduling system for multi-robot cooperation, characterized in that, include: The first module is used to acquire the preset path of the local robot and the preset path set of other robots within a preset range, and to determine the relationship between the local robot and other robots based on the preset path and the preset path set; the relationship includes unrelated, following, moving towards each other, entering a fork in the road, leaving a fork in the road, entering the target point of another robot, two robots reaching the target point simultaneously towards each other, and merging at two forks in the road; the path and path set are determined based on a path network, which includes any one of a one-way road, a passing road, or a two-way road. The second module is used to determine the path connection relationship between the local machine and other robots based on the preset path and the preset path set; the path connection relationship includes any one of the following: unrelated, other robots are on the local machine's path points, other robots and the local machine pass through the fork in the road at the same time, or other robots enter the local machine's target point at the same time. The third module is used to divide other robots into related groups and unrelated groups based on the interrelationships and path connection relationships; specifically, it includes: Other robots whose mutual relationships are unrelated, whose path connection relationships are unrelated, or whose paths are separated are divided into unrelated groups; Other robots that have mutual relationships or path connections and are without gaps are divided into related groups; The fourth module is used to formulate a scheduling scheme between the robots in the relevant groups and the local machine based on the aforementioned interrelationships; specifically, it includes: If the relationship between this machine and other robots is follow, set the scheduling scheme to follow; If the relationship between this machine and other robots is that they converge at two forks in the road, set the scheduling scheme to deceleration. If the relationship between this machine and other robots is to enter the target point of other robots, the scheduling scheme is determined according to the movement state of other robots; the movement state includes any one of the following: moving to the side, following, switching paths to the relay point, or stopping. If the relationship between this machine and other robots is that two robots arrive at the target point simultaneously in opposite directions, the scheduling scheme is determined based on the distance between this machine and other robots or the motion state of other robots. If the relationship between this machine and other robots is that they enter a fork in the road, the scheduling scheme is determined based on the motion status of the other robots. If the relationship between this machine and other robots is that they are leaving a fork in the road, the scheduling scheme is determined based on the path network and / or motion status of other robots. If the relationship between this machine and other robots is that they are moving in opposite directions, the scheduling scheme is determined based on the path network and operating status of this machine or other robots. The fifth module is used to select the highest-priority scheduling scheme from the scheduling schemes as the final execution scheme.

6. A scheduling device for multi-robot cooperation, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs the method as described in any one of claims 1-4.

7. A computer-readable storage medium storing a processor-executable program, characterized in that, The processor-executable program, when executed by the processor, is used to perform the method as described in any one of claims 1-4.

8. A scheduling system for multi-robot cooperation, characterized in that, It includes several robots that operate within a preset range and communicate with each other; each robot includes a communication device. The communication device is used to collect motion and position information of other robots besides the one itself; Computer equipment includes: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs the method as described in any one of claims 1-4.

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