A robotic mobile collaborative system

Abstract

This invention provides a robot mobile collaboration system comprising: a receiving module for receiving work instructions input from a terminal; a parsing module for parsing the work instructions to obtain the instruction purpose, selecting corresponding functions and a corresponding number of execution robots according to the instruction purpose; a building module for building execution steps corresponding to each execution robot according to the instruction purpose and building an execution plan; and an execution module for controlling the execution robots to work according to the execution plan. This system can automatically parse the work instructions input from the terminal and then control the corresponding execution robots to work according to the instructions, realizing autonomous robot operation and reducing labor costs.

Description

Technical Field

[0001] This invention relates to the field of robotic operation technology, and in particular to a robotic mobile collaboration system. Background Technology

[0002] A composite mobile robot is a new type of robot that integrates the functions of a mobile robot and a manipulator, consisting of a mobile platform, a manipulator (mainly a mechanical tube), a vision module, and an end effector. It utilizes various robotics, sensor fusion positioning and navigation, mobile operation, and artificial intelligence technologies. As a new type of logistics equipment, composite robots are highly flexible and adaptable. They integrate key technologies such as intelligent drive and navigation, enabling automatic material handling and intelligent sorting. They have been widely used in internationally renowned semiconductor industries, from early-stage crystal manufacturing and mid-stage packaging and integration to later-stage assembly, packaging, transportation, and data management in data centers (data retrieval and placement from storage servers). However, there is currently no complete robot control system. The current situation is that composite robots are controlled by multiple decentralized controllers, which makes centralized management and troubleshooting impossible, and they are prone to failure during interactive operations.

[0003] Therefore, the present invention provides a robot mobile collaboration system. Summary of the Invention

[0004] This invention discloses a robot mobile collaboration system. The system can automatically parse the work instructions input by the terminal and then control the corresponding execution robot to work according to the instructions, thereby realizing the robot's autonomous work and reducing labor costs.

[0005] This invention provides a robot mobile collaboration system, comprising:

[0006] The receiving module is used to receive work instructions input from the terminal;

[0007] The parsing module is used to parse the work instruction to obtain the instruction purpose, and select the corresponding function and the corresponding number of execution robots according to the instruction purpose;

[0008] A module is established to create execution steps for each executing robot according to the purpose of the instruction, and to create an execution plan.

[0009] The execution module is used to control the execution robot to perform its work according to the execution plan.

[0010] In one feasible approach

[0011] Also includes:

[0012] The correction module is used to parse the execution plan to obtain the working time required for the execution robot to complete the instruction objective, establish several supervision time periods based on the working time, collect the stage work progress of each execution robot in the current supervision time period in real time, and generate correction information when the stage work progress is inconsistent with the execution plan to correct the next stage work process of the corresponding execution robot.

[0013] In one feasible approach

[0014] The receiving module includes:

[0015] The update unit is used to receive valid instructions generated by the terminal in real time;

[0016] The filtering unit is used to input all valid instructions into a preset filtering model for filtering and to extract work instructions.

[0017] A receiving unit is used to receive the work instructions.

[0018] In one feasible approach

[0019] The parsing module includes:

[0020] The instruction analysis unit is used to acquire and parse the work instructions to obtain the instruction purpose;

[0021] The instruction deepening unit is used to determine whether the instruction purpose is legal. When the instruction purpose is legal, the instruction purpose is divided into several stage purposes, and candidate robots that can perform different stage purposes are obtained respectively, and a robot function list is established.

[0022] The target selection unit is used to select the execution robot based on the stage objective and the robot function list, with the principle of minimizing the number of participating robots.

[0023] In one feasible approach

[0024] The establishment module includes:

[0025] The first establishment unit is used to obtain the stage objectives, obtain the logical relationships between different stage objectives, and establish an objective logic chain.

[0026] The second establishment unit is used to obtain the execution result corresponding to each chain node according to the target logic chain, and to establish matching tags for each execution robot and the corresponding stage target in combination with the function of each execution robot.

[0027] The third establishment unit is used to obtain the position of each stage objective on the instruction objective, establish a process chain, and generate the execution steps corresponding to each execution robot by combining the matching tags, so as to obtain the execution plan.

[0028] In one feasible approach

[0029] The execution module includes:

[0030] The first execution unit is used to parse the execution plan and obtain the execution work corresponding to each execution robot;

[0031] The second execution unit is used to obtain a first execution robot and a second execution robot with a cooperative working state according to the execution work corresponding to each execution robot, and to record the cooperative working state as an important execution point;

[0032] The third execution unit is used to divide the execution plan into several sub-plans according to the important execution points, and control each execution robot to execute the sub-plans in sequence.

[0033] In one feasible approach

[0034] The first establishing unit includes:

[0035] The first subunit is used to assign a corresponding logical number to each stage objective, establish a logical index, and perform association rule mining on each stage objective. Based on the mining results, different logical indexes are combined to obtain several index pairs, and the logical indexes in the index pairs are respectively denoted as the first index and the second index.

[0036] The second sub-unit is used to analyze the same index pair to obtain the first support of the first index to the second index and the second support of the second index to the first index in the same index pair; when the second support is greater than the first support, the first index and the second index in the index pair are swapped, and the swapped index pair is used to replace the corresponding index pair to obtain several qualified index pairs;

[0037] The third subunit is used to perform logical checks on each qualified index pair, extract the qualified index pairs that pass the logical checks and record them as logical index pairs, and build a logical index graph based on the logical index pairs.

[0038] The fourth sub-unit is established to mark the logical relationships between different stage objectives in the logical index diagram according to the logical number corresponding to each stage objective, and to establish an objective logical chain.

[0039] In one feasible approach

[0040] The second execution unit includes:

[0041] The first execution subunit is used to count the execution work corresponding to each execution robot, establish a robot work reference table, and obtain the start time and end time of each execution robot according to the robot work reference table.

[0042] The second execution subunit is used to establish a robot working time axis based on the start working time and end working time of each execution robot, extract the first and second execution robots with overlapping working times on the robot working time axis, and record the first and second execution robots with the same overlapping working time as a cooperative working segment.

[0043] The third execution subunit is used to mark each cooperation segment on the robot's working time axis and obtain the starting cooperation time corresponding to each cooperation segment.

[0044] The fourth execution unit is used to record the initial coordination time as an important execution point.

[0045] In one feasible approach

[0046] Obtain the number of tasks performed by the execution robot for each coordination time period;

[0047] When the number of tasks performed by the execution robot exceeds the preset number, a distinct label is created for each execution robot to obtain the cooperation sub-scheme corresponding to the cooperation time period for the labeled execution robot.

[0048] When the labeled execution robot executes the coordination sub-scheme, the working process of each labeled execution robot is acquired and transmitted to a designated terminal for display.

[0049] In one feasible approach

[0050] When the execution robot completes the execution plan, the starting position and initial state of each execution robot are obtained, and the execution robot is controlled to move to the starting position and return to the initial state.

[0051] The beneficial effects achievable by this invention are as follows: In order to create a system that can autonomously control and execute robots, the system first receives work instructions, then parses them to obtain the purpose of the instructions, and then selects the corresponding robot to perform the work. At the same time, the system creation module generates an execution plan for each robot based on the purpose of the instructions. In this way, the robot can perform the corresponding work according to an execution plan, thus achieving the purpose of autonomous operation. This effectively reduces the probability of failure in interactive work, facilitates centralized management and troubleshooting when a failure occurs, and realizes the autonomous operation of the robot.

[0052] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0053] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0054] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0055] Figure 1 This is a schematic diagram of the composition of a robot mobile collaboration system according to an embodiment of the present invention;

[0056] Figure 2 This is a schematic diagram of a composite mobile robot structure for a robot mobile collaboration system according to an embodiment of the present invention;

[0057] Figure 3 This is a schematic diagram of the receiving module of a robot mobile collaboration system according to an embodiment of the present invention. Detailed Implementation

[0058] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0059] Example 1

[0060] This embodiment provides a robot mobile collaboration system, such as Figure 1 As shown, it includes:

[0061] The receiving module is used to receive work instructions input from the terminal;

[0062] The parsing module is used to parse the work instruction to obtain the instruction purpose, and select the corresponding function and the corresponding number of execution robots according to the instruction purpose;

[0063] A module is established to create execution steps for each executing robot according to the purpose of the instruction, and to create an execution plan.

[0064] The execution module is used to control the execution robot to perform its work according to the execution plan.

[0065] In this example, the terminal can be a command input terminal, a mobile phone, etc.

[0066] In this example, the instruction purpose indicates the goal that the worker wants to achieve by controlling the composite robot;

[0067] In this example, different models of execution robots can perform different functions;

[0068] In this example, the execution steps represent the sequential relationship between different execution actions of the robot during the work process;

[0069] In this example, the mobile collaboration system can be used to schedule and deploy the robotic arm, mobile chassis, and third-party composite robots of the mobile collaborative robot in single-machine, cluster, cloud platform, or third-party modes, so as to realize joint work between robots and enhance their collaborative capabilities.

[0070] This example applies to a hybrid mobile robot, which can... Figure 2 The structure shown;

[0071] In this example, the execution plan includes the different actions performed by the robotic arm and mobile chassis of each execution robot at different time periods, as well as the cooperative work between different execution robots.

[0072] The working principle and beneficial effects of the above technical solution are as follows: In order to create a system that can autonomously control the execution robot to perform its work, the system first receives the work instruction, then parses it to obtain the instruction purpose, and then selects the corresponding execution robot to perform the work. At the same time, the establishment module generates an execution plan for each execution robot based on the instruction purpose. In this way, the execution robot can perform the corresponding work according to an execution plan, thus achieving the purpose of autonomous work. This effectively reduces the probability of failure in interactive work, facilitates centralized management and troubleshooting when a fault occurs, and realizes the robot's autonomous work.

[0073] Example 2

[0074] Based on Embodiment 1, the robot mobile collaboration system further includes:

[0075] The correction module is used to parse the execution plan to obtain the working time required for the execution robot to complete the instruction objective, establish several supervision time periods based on the working time, collect the stage work progress of each execution robot in the current supervision time period in real time, and generate correction information when the stage work progress is inconsistent with the execution plan to correct the next stage work process of the corresponding execution robot.

[0076] In this example, working time represents the time required for the robot to complete the task.

[0077] In this example, the minimum number of monitoring time periods is 3;

[0078] In this example, the phased work process represents the work performed by the robot during the supervised time period;

[0079] In this example, the correction information indicates that when the progress of a phase's work is inconsistent with the execution plan, in order to avoid affecting the quality of the work in the next phase, information is established to adjust the progress of the next phase's work based on the progress difference between the phase's work progress and the target work progress in the execution plan.

[0080] The working principle and beneficial effects of the above technical solution are as follows: In order to make the execution plan more in line with the actual situation and reduce the probability of accidents, each execution robot is supervised separately when it is working. The supervision adopts a stage supervision method to reduce the impact of supervision on the execution robot. In this way, the stage work progress of each execution robot in different supervision time periods can be obtained. Based on the execution plan, it is judged whether its stage work progress has reached the preset requirements, and corresponding corrections are made as necessary to ensure that all execution robots work at the same frequency.

[0081] Example 3

[0082] Based on Embodiment 1, in the robot mobile collaboration system, the receiving module, as shown... Figure 3 As shown, it includes:

[0083] The update unit is used to receive valid instructions generated by the terminal in real time;

[0084] The filtering unit is used to input all valid instructions into a preset filtering model for filtering and to extract work instructions.

[0085] A receiving unit is used to receive the work instructions.

[0086] In this example, a valid instruction refers to the instruction received by the terminal to control the robot's operation;

[0087] In this example, the preset filtering model represents the model used to select work instructions from valid instructions.

[0088] The working principle and beneficial effects of the above technical solution are as follows: Since the operator may input multiple instructions to adjust the state of different machines when controlling the robot, it is necessary to filter the valid instructions when obtaining the work instructions, and then receive the filtered work instructions and wait for the next operation.

[0089] Example 4

[0090] Based on Embodiment 1, the robot mobile collaboration system, wherein the parsing module includes:

[0091] The instruction analysis unit is used to acquire and parse the work instructions to obtain the instruction purpose;

[0092] The instruction deepening unit is used to determine whether the instruction purpose is legal. When the instruction purpose is legal, the instruction purpose is divided into several stage purposes, and candidate robots that can perform different stage purposes are obtained respectively, and a robot function list is established.

[0093] The target selection unit is used to select the execution robot based on the stage objective and the robot function list, with the principle of minimizing the number of participating robots.

[0094] In this example, an invalid instruction purpose means that the robot cannot achieve the working state, such as asking a robot with handling function to perform heating work.

[0095] In this example, a candidate robot can complete multiple stage objectives, and a stage objective can be completed by multiple candidate robots.

[0096] The working principle and beneficial effects of the above technical solution are as follows: By parsing the work instructions, the instruction purpose is obtained. Then, the instruction purpose is divided into several stage purposes, and candidate robots with the same function are matched for different stage purposes. In this way, a list of robot functions can be established. Finally, the execution robot can be selected based on the principle of minimizing the number of robots involved, and wait for the next step of work.

[0097] Example 5

[0098] Based on Embodiment 1, the robot mobile collaboration system, wherein the establishment module includes:

[0099] The first establishment unit is used to obtain the stage objectives, obtain the logical relationships between different stage objectives, and establish an objective logic chain.

[0100] The second establishment unit is used to obtain the execution result corresponding to each chain node according to the target logic chain, and to establish matching tags for each execution robot and the corresponding stage target in combination with the function of each execution robot.

[0101] The third establishment unit is used to obtain the position of each stage objective on the instruction objective, establish a process chain, and generate the execution steps corresponding to each execution robot by combining the matching tags, so as to obtain the execution plan.

[0102] In this example, the logical relationships include: primary and secondary relationships, parallel relationships, progressive relationships, real and virtual relationships, and causal relationships;

[0103] In this example, the goal logic chain is a coherent relationship composed of the logic between different stages of the goal;

[0104] In this example, a chain node represents the intersection of two phase objectives in a logical chain, that is, the node after completing one phase objective;

[0105] In this example, the matching label represents the matching marker set after matching the robot and the stage objective;

[0106] In this example, the process chain represents the progress between the completion of the current target stage and the overall instruction target.

[0107] The working principle and beneficial effects of the above technical solution are as follows: By analyzing the logical relationship between the objectives of different stages, a logical chain is established. Then, the execution result of each node in the logical chain can be obtained. Then, the execution steps can be established for the execution robot by combining the matching tags, thereby obtaining the execution plan. Establishing the execution plan in this way can make the connection between the execution steps smoother, reduce the stuttering of the execution robot in the execution and cooperation process, and speed up the work progress.

[0108] Example 6

[0109] Based on Embodiment 1, the robot mobile collaboration system, wherein the execution module includes:

[0110] The first execution unit is used to parse the execution plan and obtain the execution work corresponding to each execution robot;

[0111] The second execution unit is used to obtain a first execution robot and a second execution robot with a cooperative working state according to the execution work corresponding to each execution robot, and to record the cooperative working state as an important execution point;

[0112] The third execution unit is used to divide the execution plan into several sub-plans according to the important execution points, and control each execution robot to execute the sub-plans in sequence.

[0113] In this example, the cooperative working state refers to the state when two or more robots simultaneously complete the same task.

[0114] In this example, a critical execution point indicates that the execution point is worked by multiple execution robots, which is prone to poor coordination.

[0115] In this example, the sub-scheme represents the scheme between different execution points.

[0116] The working principle and beneficial effects of the above technical solution are as follows: In order to make the cooperation between multiple execution robots more harmonious when performing the same task, the important execution points of the execution robots are first identified. Then, the execution plan is divided into several sub-plans based on the location of the important execution points. Finally, different execution robots are controlled to execute the corresponding sub-plans, thereby enhancing the cooperation between the execution robots.

[0117] Example 7

[0118] Based on Embodiment 5, the first establishing unit of the robot mobile collaboration system includes:

[0119] The first subunit is used to assign a corresponding logical number to each stage objective, establish a logical index, and perform association rule mining on each stage objective. Based on the mining results, different logical indexes are combined to obtain several index pairs, and the logical indexes in the index pairs are respectively denoted as the first index and the second index.

[0120] The second sub-unit is used to analyze the same index pair to obtain the first support of the first index to the second index and the second support of the second index to the first index in the same index pair; when the second support is greater than the first support, the first index and the second index in the index pair are swapped, and the swapped index pair is used to replace the corresponding index pair to obtain several qualified index pairs;

[0121] The third sub-unit is used to perform logical checks on each qualified index pair, extract the qualified index pairs that pass the logical checks and record them as logical index pairs, and build a logical index graph based on the logical index pairs.

[0122] The fourth sub-unit is established to mark the logical relationships between different stage objectives in the logical index diagram according to the logical number corresponding to each stage objective, and to establish an objective logical chain.

[0123] In this example, association rule mining represents a method for mining relationships between different stages of objectives;

[0124] In this example, the logical numbering represents the result of numbering each stage objective separately;

[0125] In this example, the logical index represents the keywords used to query and locate the stage objectives;

[0126] In this example, an index pair represents a logical index combined with other logical indexes;

[0127] In this example, support represents the degree of correlation between the effect of one index and the effect of another index within the same index pair;

[0128] In this example, when the second support is greater than the first support, the purpose of swapping the positions of the first and second indexes in the index pair is to ensure that the two indexes in the index pair maintain a mutually supportive state.

[0129] In this example, a qualified index pair means that the support of the two logical indexes in the same index pair has reached the highest level.

[0130] In this example, the logical index graph represents the logical relationships between different pairs of logical indexes, and can be used to search any two logical indexes.

[0131] In this example, the purpose of combining logical numbers with logical index diagrams is to avoid confusion in the correspondence between logical indexes and stage objectives.

[0132] The working principle and beneficial effects of the above technical solution are as follows: By performing association rule mining on the stage objectives and establishing logical numbers and logical indexes for each stage objective, index pairs can be established based on the mining results. Then, the support of the index pairs is adjusted to obtain several qualified index pairs. Logical testing is then performed on the qualified index pairs. The index pairs that pass the logical testing are arranged to obtain a logical index graph. Finally, combined with the known logical numbers, a logical chain is established to lay the foundation for the subsequent establishment of an execution plan.

[0133] Example 8

[0134] Based on Embodiment 6, the second execution unit of the robot mobile collaboration system includes:

[0135] The first execution subunit is used to count the execution work corresponding to each execution robot, establish a robot work reference table, and obtain the start time and end time of each execution robot according to the robot work reference table.

[0136] The second execution subunit is used to establish a robot working time axis based on the start working time and end working time of each execution robot, extract the first and second execution robots with overlapping working times on the robot working time axis, and record the first and second execution robots with the same overlapping working time as a cooperative working segment.

[0137] The third execution subunit is used to mark each cooperation segment on the robot's working time axis and obtain the starting cooperation time corresponding to each cooperation segment.

[0138] The fourth execution unit is used to record the initial coordination time as an important execution point.

[0139] In this example, the robot work comparison table represents a comparison of the different tasks performed by different executing robots in the process of completing the instruction's purpose;

[0140] In this example, the start working time refers to the point in time when a certain execution robot begins its work;

[0141] In this example, the termination time refers to the point in time when a certain robot finishes its work;

[0142] In this example, the robot's working timeline includes the start and end times of different executing robots;

[0143] In this example, the cooperating work segment represents the time period during which two robots work simultaneously.

[0144] The working principle and beneficial effects of the above technical solution are as follows: By analyzing the start and end times of the non-malicious robots, a group robot working time axis is established. Then, the cooperative working segments of the robots are marked on this time axis. From this, the start time of the cooperative working segment can be obtained, and the important execution point corresponding to the start time of the cooperative working segment can be obtained.

[0145] Example 9

[0146] Based on Example 6, the robot mobile collaboration system described above is as follows:

[0147] Obtain the number of tasks performed by the execution robot for each coordination time period;

[0148] When the number of tasks performed by the execution robot exceeds the preset number, a distinct label is created for each execution robot to obtain the cooperation sub-scheme corresponding to the cooperation time period for the labeled execution robot.

[0149] When the labeled execution robot executes the coordination sub-scheme, the working process of each labeled execution robot is acquired and transmitted to a designated terminal for display.

[0150] The working principle and beneficial effects of the above technical solution are as follows: When multiple execution robots work together, in order to avoid the execution robots from getting stuck, a unique label is first created for each execution robot. Then, the working process of each labeled execution robot is monitored and transmitted to a designated terminal for display, so that the staff can keep track of the work progress of the execution robots in real time.

[0151] Example 10

[0152] Based on Example 1, the robot mobile collaboration system described above is as follows:

[0153] When the execution robot completes the execution plan, the starting position and initial state of each execution robot are obtained, and the execution robot is controlled to move to the starting position and return to the initial state.

[0154] The working principle and beneficial effects of the above technical solution are as follows: In order to ensure that the execution robot can work stably multiple times, when the execution robot completes a task, it is controlled to return to the initial position and restore the initial state, so that it can start the next task at any time.

[0155] Example 11

[0156] Based on Embodiment 7, the robot mobile collaboration system further includes:

[0157] According to formulas (1) and (2), association rules are mined for each stage objective;

[0158]

[0159] Where P represents the correlation coefficient, n represents the nth stage objective out of all stage objectives, K1 represents the first fuzzy correlation parameter, K2 represents the second fuzzy correlation parameter, α represents the learning rate of the correlation rule, and its value ranges from [-10, 0], w n d(x) represents the mining result corresponding to the goal of the nth stage. n y n ) represents the support level for the goal of the nth stage, where x n y represents the first level of support for the goal of the nth stage. n Let G(x, y) represent the second support of the nth stage objective, and let G(x, y) represent the set of all stage objectives. This indicates the selection of the highest support among the objectives of the nth stage;

[0160] Based on the calculation results of formulas (1) and (2), the mining results corresponding to each stage objective are obtained, and a list of mining results is established.

[0161] The working principle and beneficial effects of the above technical solution are as follows: using formulas to perform association rule mining for each stage objective, obtaining the corresponding mining results and establishing a list of corresponding mining results, which lays the foundation for subsequent index pair building. At the same time, using formulas for mining can speed up the mining process and improve the accuracy of the mining results, achieving high-quality mining.

[0162] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A robotic mobile collaboration system, characterized by, The application relates to a terminal inputted work instruction receiving module, a work instruction analysis module, a work instruction execution module and a work instruction execution scheme establishment module. The work instruction analysis module comprises an instruction analysis unit, an instruction deepening unit and a target selection unit. The work instruction execution module comprises a first execution unit, a second execution unit and a third execution unit. The work instruction execution scheme establishment module comprises a first establishment unit, a second establishment unit and a third establishment unit. The first establishment unit comprises a first establishment subunit, a second establishment subunit and a third establishment subunit. The second establishment unit comprises a first establishment subunit, a second establishment subunit and a third establishment subunit. The third establishment unit comprises a first establishment subunit, a second establishment subunit and a third establishment subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The first execution subunit comprises a first execution subunit, a second execution subunit and a third execution subunit.

2. The robotic mobile collaboration system of claim 1, wherein, The second execution subunit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution subunit comprises a first execution subunit, a second execution subunit and a third execution subunit.

3. The robotic mobile collaboration system of claim 1, wherein, The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit.

4. The robotic mobile collaboration system of claim 1, wherein, The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit.

5. The robotic mobile collaboration system of claim 1, wherein, The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit.

6. A robotic mobile collaboration system as claimed in claim 4, wherein, The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. 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The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution subunit and a third execution subunit. The third execution unit comprises a first execution subunit, a second execution The first establishing subunit is configured to assign a corresponding logical number to each stage goal, establish a logical index, and perform association rule mining on each stage goal, and combine different logical indexes according to the mining results to obtain a plurality of index pairs, and record the logical indexes in the index pairs as a first index and a second index, respectively. The second establishing subunit is configured to analyze the same index pair to obtain a first support degree of the first index to the second index in the same index pair and a second support degree of the second index to the first index, and when the second support degree is greater than the first support degree, exchange the positions of the first index and the second index in the same index pair, replace the exchanged index pair with the corresponding index pair, and obtain a plurality of qualified index pairs. The third establishing subunit is configured to perform logical detection on each qualified index pair, extract a qualified index pair that passes the logical detection as a logical index pair, and establish a logical index graph according to the logical index pair. The fourth establishing subunit is configured to mark the logical relationship between different stage goals in the logical index graph according to the logical number corresponding to each stage goal, and establish a goal logical chain.

7. A robotic mobile collaboration system as claimed in claim 5, wherein, The second execution unit includes: The first execution subunit is configured to count the execution work corresponding to each execution robot, establish a robot work table, and obtain the start work time and the end work time of each execution robot according to the robot work table. The second execution subunit is configured to establish a robot work time axis according to the start work time and the end work time corresponding to each execution robot, extract a first execution robot and a second execution robot with overlapping work time on the robot work time axis, and record the first execution robot and the second execution robot corresponding to the same overlapping work time as a cooperative work section. The third execution subunit is configured to mark each cooperative work section on the robot work time axis to obtain a start cooperation time corresponding to each cooperative work section. The fourth execution unit is configured to record the start cooperation time as an important execution point.

8. The robot movement cooperation system of claim 5, wherein: The number of execution robots corresponding to each cooperation time section is obtained respectively. When the number of execution robots is greater than a preset number, a distinguished label is established for each execution robot to obtain a cooperation sub-scheme corresponding to the cooperation time section. When the execution robot executes the cooperation sub-scheme, the work progress of each execution robot is obtained and transmitted to a designated terminal for display.

9. The robot movement cooperation system of claim 1, wherein: When the execution robot completes the execution scheme, the start position and the initial state corresponding to each execution robot are obtained, the execution robot is controlled to move to the start position, and the initial state is restored.

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