Road paving method and device based on multi-robot cooperation

Abstract

The invention relates to a road laying method and device based on multi-robot cooperation. The method comprises the following steps: acquiring map information of a road to be paved, and synchronizing the map information to a construction robot corresponding to a road paving process; the map information comprises a construction path of the construction robot surveyed by the surveying robot; issuing a first control instruction according to a preset control strategy; the preset control strategy comprises a selection mode of the construction robot of each working procedure; the selection mode comprises the steps of selecting the construction robot of the current working procedure, and selecting the construction robot of the next working procedure under the condition that the current construction working procedure is carried out to a preset progress; the first control instruction is used for instructing the selected construction robot to perform construction along the construction path; according to the method, the problem that the operation efficiency is low due to the fact that cooperation is not tight in the whole construction process can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of multi-machine collaborative construction, and in particular to a road paving method and device based on multi-robot collaboration. Background Art

[0002] With the improvement of robot intelligence, intelligent robots have been able to play an important role in the road paving process. However, the road paving process is complicated and highly interrelated, and it is difficult to systematically achieve work indicators with a single robot. Therefore, people began to study how to meet the actual needs in the road paving field through multi-machine collaboration.

[0003] The existing multi-machine collaborative road paving solution still overemphasizes the cooperation of individual machines, while ignoring the importance of unified deployment of robots through the system, resulting in loose coordination in the overall construction process and low operating efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a road paving method and device based on multi-robot collaboration to address the above technical problems.

[0005] In a first aspect, the present application provides a road paving method based on multi-robot collaboration, wherein the robots include a survey robot and a construction robot; the method includes:

[0006] Obtaining map information of the road to be paved, and synchronizing the map information to the construction robot corresponding to the road paving process; the map information includes the construction path of the construction robot obtained by the surveying robot;

[0007] The first control instruction is issued according to the preset control strategy; the preset control strategy includes the selection method of the construction robot for each process; the selection method includes selecting the construction robot for the current process, and when the current construction process is carried out to the preset progress, selecting the construction robot for the next process; the first control instruction is used to instruct the selected construction robot to perform construction along the construction path.

[0008] In one embodiment, the road paving process includes a roadbed filling process, a side ditch slope protection road piling process and a material transportation process; the method also includes:

[0009] Obtain a high-precision map of the construction site, and use a survey robot to perform alignment measurement and construction stakeout on the road to be paved; alignment measurement includes measurement of the road centerline and elevation points; construction stakeout includes edge stakeout and cross-section stakeout;

[0010] The high-precision map is reconstructed based on the results of alignment measurement and construction stakeout, and the roadbed width, roadbed elevation, roadbed edge structure and borrow field location of the road to be paved are fitted in the high-precision map; wherein: the roadbed width is obtained based on the results of road centerline and cross-section stakeout, the roadbed elevation is obtained based on the elevation points, and the roadbed edge structure and borrow field location are obtained based on the results of edge stakeout;

[0011] The construction path of the roadbed filling process is determined based on the roadbed width and roadbed elevation, the construction path of the ditch slope protection process is determined based on the roadbed edge structure, and the construction path of the material transportation process is determined based on the location of the borrow yard;

[0012] The construction path of the roadbed filling process, the construction path of the ditch slope protection process and the location of the borrow field are marked in the high-precision map to obtain map information.

[0013] In one embodiment, the method further comprises:

[0014] Obtain work order information for the road to be paved; the work order information includes the target tasks of each process and the period for achieving the target tasks;

[0015] Search for available construction robots according to the process and record them as candidate robots, and obtain the equipment information of each candidate robot, which includes the robot number and the corresponding construction efficiency;

[0016] A construction robot with the highest construction efficiency among the candidate robots is selected, and combined with the work order information of the road to be paved, it is determined whether the selected construction robot can complete the target task within the achievement period, and if so, a first control instruction is issued to the selected construction robot, and if not, a vertical division step is entered;

[0017] The longitudinal division step includes: obtaining the working space of each candidate robot, and obtaining a robot combination of all candidate robots that meets the longitudinal parallel working condition according to the working space of the candidate robot and the width of the road to be paved, wherein the longitudinal parallel working condition is that the sum of the working ranges of all robots in the robot combination in the width direction of the road to be paved is compatible with the width of the road to be paved, and the robot combination includes at least two candidate robots;

[0018] If the number of robot combinations is one group, then this group of robot combinations is selected to determine whether the longitudinal construction has reached the standard;

[0019] If the number of robot combinations is at least two, one of the robot combinations is selected through a preferential strategy to determine whether the longitudinal construction meets the standards;

[0020] The vertical construction standard judgment includes: combining the work order information of the road to be paved, judging whether the selected robot combination can complete the target task within the achievement period, if yes, issuing the first control instruction to the selected robot combination, if no, entering the horizontal division step;

[0021] The horizontal division step includes: combining the equipment information of the alternative robots and the work order information of the road to be paved, dividing the road to be paved along the length direction of the road into at least two synchronous construction sections, configuring a group of robot combinations for each synchronous construction section, and issuing a first control instruction to the configured robot combination.

[0022] In one embodiment, the optimization strategy includes: obtaining the minimum value of the construction efficiency of each candidate robot in each group of robot combinations and recording it as the minimum construction efficiency of each group of robot combinations; based on the minimum construction efficiency and in combination with the work order information of the road to be paved, selecting a qualified robot combination, wherein the qualified robot combination means a robot combination that can complete the target task within the achievement period calculated based on the minimum construction efficiency; if the number of qualified robot combinations is one group, then this group of qualified robot combinations is used as the selection result of the optimization strategy; if the number of qualified robot combinations is at least two groups, then the robot combination with the smallest discrete degree of construction efficiency of each candidate robot is selected as the selection result of the optimization strategy.

[0023] In one embodiment, the callable construction robots include construction robots that are online, have not synchronized map information, and have energy reserves greater than a preset percentage.

[0024] In one embodiment, the roadbed filling process includes a bottom filling process, an asphalt paving process, and a road surface flattening process performed in sequence; when the current construction process is carried out to a preset progress, selecting a construction robot for the next process includes:

[0025] In response to the bottom filling process being carried out to a first preset progress, a construction robot is selected according to an evaluation result of the construction efficiency of the construction robot corresponding to the asphalt paving process; the first preset progress is determined by the construction efficiency of the construction robot corresponding to the asphalt paving process;

[0026] In response to the asphalt paving process progressing to a second preset progress, a construction robot is selected based on an evaluation result of the construction efficiency of the construction robot corresponding to the pavement flattening process; the second preset progress is determined by the drying time of the asphalt paving process and the construction efficiency of the construction robot corresponding to the pavement flattening process.

[0027] In one embodiment, the method further comprises:

[0028] When the first control instruction is issued to the construction robot of the current process, a second control instruction is issued to the construction robot corresponding to the current process to move to the starting position of the corresponding construction path;

[0029] In response to the acquired position of the construction robot coinciding with the starting point of the construction path, a first control instruction is issued to the construction robot.

[0030] In one embodiment, the method further comprises:

[0031] When the first control instruction is issued to the construction robot of the current process, the position of the construction robot corresponding to the current process is obtained, and according to the change in the position of the construction robot between units and the distance between the construction robot and the starting point of the corresponding construction path, the arrival time of the construction robot at the starting point of the construction path is calculated;

[0032] In response to the arrival time exceeding the first preset time length, a movement restriction prompt message is output; the movement restriction prompt message is used to instruct to obtain a scene image taken by a camera carried by the construction robot and send it to the staff.

[0033] In one embodiment, the method further comprises:

[0034] In response to the arrival time exceeding the second preset time length, a construction robot fault prompt information is output; the fault prompt information is used to obtain parameter information of the construction robot through the sensor carried by the construction robot; the parameter information includes: energy supply parameters, power component parameters, sensor parameters and navigation system parameters; wherein: the second preset time length is greater than the first preset time length.

[0035] In a second aspect, the present application provides a road paving device based on multi-robot collaboration, wherein the robots include a survey robot and a construction robot; the device includes:

[0036] A map information synchronization module is used to obtain map information of the road to be paved and synchronize the map information to the construction robot corresponding to the road paving process; the map information includes the construction path of each construction robot surveyed by the survey robot;

[0037] The instruction issuing module is used to issue the first control instruction according to the preset control strategy; the preset control strategy includes the selection method of the construction robot for each process; the selection method includes selecting the construction robot for the current process, and when the current construction process is carried out to the preset progress, selecting the construction robot for the next process; the first control instruction is used to instruct the selected construction robot to perform construction along the construction path.

[0038] The above-mentioned road paving method and device based on multi-robot collaboration can obtain the on-site structure of the road to be paved through the survey robot, and plan the construction path of the construction robot based on the on-site structure to obtain map information, and then synchronize the map information of each construction path to the construction robot of the corresponding process to instruct the construction robot to perform construction according to the construction path; after the map information is synchronized, the construction robots are selected and controlled in batches according to the process progress, ensuring the order of the construction site while ensuring the close connection of the construction progress, and deploying the construction robots from a global perspective, effectively avoiding the problem of low operating efficiency caused by the lack of coordination in the overall construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a flowchart of the overall steps of a road paving method based on multi-robot collaboration in one embodiment;

[0041] Figure 2 A flowchart of the steps of obtaining map information in one embodiment;

[0042] Figure 3 A flowchart of the steps of horizontally dividing a construction path in one embodiment;

[0043] Figure 4 A flowchart of the steps of issuing instructions in an embodiment;

[0044] Figure 5 is a flow chart of the determination and processing steps of restricted movement in one embodiment;

[0045] Figure 6 It is a structural block diagram of a road paving device based on multi-robot collaboration in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0049] In this application, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0050] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediate element. In addition, the "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if there is transmission of electrical signals or data between the connected objects.

[0051] In an exemplary embodiment, Figure 1 As shown, a road paving method based on multi-robot collaboration is provided, wherein the robots include a survey robot and a construction robot; the method includes the following steps 202 to 204. Among them:

[0052] Step 202, obtaining map information of the road to be paved, and synchronizing the map information to the construction robot corresponding to the road paving process; the map information includes the construction path of the construction robot surveyed by the survey robot.

[0053] Specifically, satellite images and on-site images can be matched and fused, and maps can be reconstructed to obtain a detailed terrain structure map with route information and three-dimensional terrain structure information, and then map information can be obtained by marking the construction path on the terrain structure map.

[0054] Furthermore, on the basis of the original map information, the construction path can be marked according to different processes to instruct the construction robot to move according to the marked path.

[0055] Exemplarily, the on-site image may also be three-dimensional point cloud data obtained through survey.

[0056] On the other hand, the construction robot can act according to the preset construction procedures and industry requirements when guided to the starting point of the construction path.

[0057] Furthermore, the survey robot can act according to a preset survey program, and the survey process can be carried out by remote control or by autonomous survey based on technologies including image recognition and satellite positioning.

[0058] Step 204, issuing a first control instruction according to a preset control strategy; the preset control strategy includes a method for selecting a construction robot for each process; the selection method includes selecting a construction robot for the current process, and when the current construction process is carried out to a preset progress, selecting a construction robot for the next process; the first control instruction is used to instruct the selected construction robot to perform construction along a construction path.

[0059] Specifically, after receiving the control instruction, the construction robot can move to the starting point of the construction path corresponding to the type of the construction robot based on the control instruction, and move according to the construction path based on a preset construction program.

[0060] Furthermore, the type of construction robot corresponds to the construction process, and the working status of each robot and the type of robot can be synchronously obtained online. When the corresponding construction process needs to be carried out, control instructions are issued to the selected robot according to the type.

[0061] The present application provides a road paving method and device based on multi-robot collaboration, which can obtain the on-site structure of the road to be paved through a survey robot, and plan the construction path of the construction robot based on the on-site structure to obtain map information, and then synchronize the map information of each construction path to the construction robot of the corresponding process to instruct the construction robot to perform construction according to the construction path; after the map information is synchronized, the construction robots are selected and controlled in batches according to the process progress, ensuring the order of the construction site while ensuring the close connection of the construction progress, and deploying the construction robots from a global perspective, effectively avoiding the problem of low operating efficiency caused by the lack of coordination in the overall construction process.

[0062] In an exemplary embodiment, the road paving process includes a roadbed filling process, a side ditch slope protection road piling process, and a material transportation process; Figure 2 As shown, the method further includes the following steps 302 to 308. Among them:

[0063] Step 302, obtain a high-precision map of the construction site, and use a survey robot to perform alignment measurement and construction layout of the road to be paved; the alignment measurement includes the measurement of the road centerline and elevation points; the construction layout includes edge layout and cross-section layout.

[0064] Specifically, the high-precision map can be a satellite map, and the line measurement and construction layout can also be laser three-dimensional point cloud data collected by lidar.

[0065] Step 304, reconstructing the high-precision map through the results of alignment measurement and construction layout, fitting the roadbed width, roadbed elevation, roadbed edge structure and borrow yard position of the road to be paved in the high-precision map; wherein: the roadbed width is obtained based on the results of road centerline and cross-section layout, the roadbed elevation is obtained based on the elevation points, and the roadbed edge structure and borrow yard position are obtained based on the results of edge layout.

[0066] Specifically, in order to simplify the steps of this embodiment in order to more clearly describe the method provided by this embodiment, the road to be paved may be a road whose roadbed has been excavated, and thus the specific values ​​of the elevation points are uniform on the entire road. The elevation points are used to characterize the height difference between the excavated roadbed and the road to be paved in the final form, and are used to determine the filling thickness of each layer of sand and gravel, mixed materials, and the paving thickness of asphalt during the roadbed filling process.

[0067] Step 306, determining the construction path of the roadbed filling process based on the roadbed width and the roadbed elevation, determining the construction path of the ditch slope protection process based on the roadbed edge structure, and determining the construction path of the material transportation process based on the borrow yard location.

[0068] Specifically, the roadbed slope and drainage position can be set according to the roadbed edge structure, and the side ditch slope protection road can be built accordingly to prevent soil erosion and maintain road surface stability.

[0069] Specifically, the material transportation process can be carried out by corresponding construction robots to transport materials to the roadbed filling process and the side ditch slope protection stacking process respectively. During the material transportation process, since the movement positions of the construction robots of the roadbed filling process and the side ditch slope protection stacking process are constantly changing, it is necessary to re-mark the construction path of the material transportation process at preset time intervals, and update the marked map information to the corresponding construction robots to ensure efficiency.

[0070] Step 308, marking the construction path of the roadbed filling process, the construction path of the ditch slope protection process and the location of the borrow field in the high-precision map to obtain map information.

[0071] In an exemplary embodiment, Figure 3 As shown, the method further includes the following steps 402 to 406. Among them:

[0072] Step 402, obtaining work order information of the road to be paved; the work order information includes the target tasks of each process and the period for achieving the target tasks.

[0073] In the specific implementation process, since the construction robot needs to be maintained at a preset period, the paving of the road to be paved can be processed by issuing work orders, which is convenient for management and recording; therefore, the target task corresponding to each work order is part of the road paving process.

[0074] Furthermore, in order to control the progress of tasks, tasks can be split up through work orders and the completion cycles can be managed separately.

[0075] Step 404, search for available construction robots according to the process and record them as candidate robots, and obtain equipment information of each candidate robot, the equipment information including the robot number and the corresponding construction efficiency.

[0076] During the specific implementation process, the construction robots that can participate in road paving and correspond to the construction procedures may have different work efficiency and specific models due to leasing and adjustment. Therefore, the construction efficiency can be improved by selecting robots with different work efficiency.

[0077] Step 406, select the construction robot with the highest construction efficiency among the candidate robots, and combine it with the work order information of the road to be paved to determine whether the selected construction robot can complete the target task within the achievement period. If so, issue the first control instruction to the selected construction robot, otherwise enter the vertical division step.

[0078] In one embodiment, the longitudinal division step includes: obtaining the working space of each candidate robot, and obtaining a robot combination of all candidate robots that meets the longitudinal parallel working condition according to the working space of the candidate robots and the width of the road to be paved, wherein the longitudinal parallel working condition is that the sum of the working ranges of all robots in the robot combination in the width direction of the road to be paved is compatible with the width of the road to be paved, and the robot combination includes at least two candidate robots;

[0079] If the number of robot combinations is one group, then this group of robot combinations is selected to determine whether the longitudinal construction has reached the standard;

[0080] If the number of robot combinations is at least two, one of the robot combinations is selected through a preferential strategy to determine whether the longitudinal construction meets the standards;

[0081] The vertical construction compliance judgment includes: combining the work order information of the road to be paved, judging whether the selected robot combination can complete the target task within the achievement period, if so, issuing the first control instruction to the selected robot combination, otherwise entering the horizontal division step.

[0082] Specifically, longitudinal parallel operation is characterized by the selected robot combination working in parallel along the construction path. Because the road width is limited and corresponding working space needs to be reserved between construction robots, the longitudinal parallel operation condition means that the number of robots in the selected robot combination is exactly matched with the width of the road to be paved, under the premise of reserving working space.

[0083] Furthermore, exactly matching the width of the road to be paved includes: the sum of the operating ranges of all robots in the robot assembly in the width direction of the road to be paved is less than 1.2 times the width of the road to be paved and greater than the width of the road to be paved.

[0084] Furthermore, since there may be multiple groups of robots that can meet the achievement cycle and the longitudinal parallel operation conditions, one group of robot combinations is selected through a preferential strategy.

[0085] Furthermore, the optimization strategy may be optimization in the direction of efficiency, optimization in the direction of energy utilization, or optimization in the direction of minimum road occupancy.

[0086] In one embodiment, the horizontal division step includes: combining the equipment information of the alternative robots and the work order information of the road to be paved, dividing the road to be paved along the length direction of the road into at least two synchronous construction sections, configuring a group of robot combinations for each synchronous construction section, and issuing a first control instruction to the configured robot combination.

[0087] Specifically, the synchronous construction section can be divided horizontally along the length of the road. Since the construction width of the road is limited, the number of construction robots that can accommodate parallel operations is limited. Therefore, after dividing along the length, the map information corresponding to the equally divided construction path is resynchronized to each construction robot, thereby selecting the construction robots for construction according to the preset control strategy.

[0088] In an exemplary embodiment, the optimization strategy includes: obtaining the minimum value of the construction efficiency of each alternative robot in each group of robot combinations and recording it as the minimum construction efficiency of each group of robot combinations; based on the minimum construction efficiency and in combination with the work order information of the road to be paved, selecting a qualified robot combination, wherein the qualified robot combination means a robot combination that can complete the target task within the achievement period calculated based on the minimum construction efficiency; if the number of qualified robot combinations is one group, then this group of qualified robot combinations is used as the selection result of the optimization strategy; if the number of qualified robot combinations is at least two groups, then the robot combination with the smallest discrete degree of construction efficiency of each alternative robot is selected as the selection result of the optimization strategy.

[0089] Specifically, since there may be multiple groups of robots that can complete the target task within the achievement cycle, and considering the production rhythm of the overall road paving process, the robots are selected based on the goal of having the lowest construction efficiency among all processes and being able to complete the target task within the achievement cycle, to ensure that other construction processes will not be forced to wait or be advanced due to the early achievement of the target task.

[0090] On the other hand, when sufficient construction efficiency is required, the corresponding energy loss will also increase simultaneously. Therefore, when a robot combination with lower construction efficiency is selected, energy can be saved to the greatest extent.

[0091] In an exemplary embodiment, the callable construction robots include construction robots that are online, have not synchronized map information, and have energy reserves greater than a preset percentage.

[0092] Specifically, the unsynchronized map information indicates that the construction robot is not currently performing any task assignment and is not in a state of waiting for task assignment.

[0093] In an exemplary embodiment, the roadbed filling process includes a bottom filling process, an asphalt paving process, and a road surface flattening process performed in sequence; when the current construction process is carried out to a preset progress, selecting a construction robot for the next process includes the following steps 2024 to 2044. Among them:

[0094] Step 2042, in response to the bottom filling process being carried out to the first preset progress, the construction robot is selected according to the evaluation result of the construction efficiency of the construction robot corresponding to the asphalt paving process; the first preset progress is determined by the construction efficiency of the construction robot corresponding to the asphalt paving process.

[0095] Specifically, after the asphalt paving robot is selected based on construction efficiency, a first preset progress is determined according to the construction efficiency of the asphalt paving process construction robot to avoid the construction progress of the asphalt paving process construction robot exceeding that of the bottom filling process construction robot, thereby causing operation conflicts.

[0096] In one embodiment, the construction efficiency of the construction robot selected for the asphalt paving process needs to be as close as possible to the construction efficiency of the construction robot for the base filling process; otherwise, if the efficiency of the asphalt paving construction robot is much lower than that of the base filling construction robot, the construction period of subsequent robots will be delayed; if the efficiency of the asphalt paving construction robot is much higher than that of the base filling construction robot, the asphalt paving construction robot will wait for construction, resulting in a waste of resources.

[0097] Furthermore, the construction efficiency of the construction robot needs to be as close as possible to the construction efficiency of the construction robot in the base filling process, including: the difference in construction distance per unit time between the asphalt paving process construction robot and the base filling process construction robot on a road of the same width shall not exceed a preset value.

[0098] Step 2044, in response to the asphalt paving process progressing to the second preset progress, a construction robot is selected based on the evaluation result of the construction efficiency of the construction robot corresponding to the pavement flattening process; the second preset progress is determined by the drying time of the asphalt paving process and the construction efficiency of the construction robot corresponding to the pavement flattening process.

[0099] Specifically, since the construction robot cannot effectively carry out the road rolling process after the asphalt dries, and if the construction progress of the road flattening robot exceeds that of the asphalt paving robot, it will cause operation conflicts. Therefore, the second preset progress needs to ensure the progress (construction distance) before the asphalt dries and without operation conflicts.

[0100] In an exemplary embodiment, Figure 4 As shown, the method further includes the following steps 502 to 504. Among them:

[0101] Step 502, when the first control instruction is issued to the construction robot of the current process, a second control instruction is issued to the construction robot corresponding to the current process to move to the starting position of the corresponding construction path.

[0102] Specifically, the construction robot is configured to move based on a planned moving path and to avoid obstacles based on laser ranging, three-dimensional point cloud recognition and image recognition. The existing autonomous driving technology is already sufficiently sophisticated and will not be elaborated here.

[0103] Step 504 , in response to the acquired position of the construction robot coinciding with the starting point of the construction path, issuing a first control instruction to the construction robot.

[0104] In an exemplary embodiment, Figure 5 As shown, the method further includes the following steps 602 to 604. Among them:

[0105] Step 602, when the first control instruction is issued to the construction robot of the current process, the position of the construction robot corresponding to the current process is obtained, and the arrival time of the construction robot at the starting point of the construction path is calculated based on the change in the position of the construction robot between units and the distance between the construction robot and the starting point of the corresponding construction path.

[0106] Specifically, since the construction robot is configured to automatically move to the starting point of the construction path, the arrival time is estimated through the relationship between the position change and time during the movement of the construction robot.

[0107] Step 604: in response to the arrival time exceeding the first preset time, outputting movement restriction prompt information; the movement restriction prompt information is used to instruct to obtain the on-site image taken by the camera carried by the construction robot and send it to the staff.

[0108] Among them, the first preset time length is used to determine whether the corresponding construction robot is obstructed in the process of moving to the starting point of the construction path. If so, and the construction robot cannot automatically avoid obstacles, the staff will be informed by sending back the on-site image and providing information prompts.

[0109] In an exemplary embodiment, the method further includes:

[0110] In response to the arrival time exceeding the second preset time length, a construction robot fault prompt information is output; the fault prompt information is used to obtain parameter information of the construction robot through the sensor carried by the construction robot; the parameter information includes: energy supply parameters, power component parameters, sensor parameters and navigation system parameters; wherein: the second preset time length is greater than the first preset time length.

[0111] Specifically, when the construction robot is being configured, its own parameters can be obtained through a combination of circuits and sensors so that the staff can grasp them in time. If the construction robot moves too slowly for a long time, it may indicate that there may be a fault in it. Therefore, by obtaining its parameter information, the staff can make a preliminary judgment on it.

[0112] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0113] Based on the same inventive concept, the embodiment of the present application also provides a road paving device based on multi-robot collaboration for realizing the road paving method based on multi-robot collaboration involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations of one or more embodiments of the road paving device based on multi-robot collaboration provided below can refer to the above limitations on the road paving method based on multi-robot collaboration, and will not be repeated here.

[0114] Second, as Figure 6 As shown, the present application provides a road paving device 700 based on multi-robot collaboration, wherein the robots include a survey robot and a construction robot; the device includes:

[0115] The map information synchronization module 701 is used to obtain the map information of the road to be paved and synchronize the map information to the construction robot corresponding to the road paving process; the map information includes the construction path of each construction robot surveyed by the survey robot;

[0116] The instruction issuing module 702 is used to issue the first control instruction according to the preset control strategy; the preset control strategy includes the selection method of the construction robot for each process; the selection method includes selecting the construction robot for the current process, and when the current construction process is carried out to the preset progress, selecting the construction robot for the next process; the first control instruction is used to instruct the selected construction robot to perform construction along the construction path.

[0117] Each module in the above-mentioned road paving device based on multi-robot collaboration can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0118] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method provided in the first aspect of the present application are implemented.

[0119] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect of the present application.

[0120] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0121] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A road paving method based on multi-robot collaboration, It is characterized in that The robot includes a survey robot and a construction robot; the method includes: Acquire map information of the road to be paved, and synchronize the map information to the construction robot corresponding to the road paving process; the map information includes the construction path of the construction robot surveyed by the survey robot; The first control instruction is issued according to a preset control strategy; the preset control strategy includes a selection method for the construction robot for each process; the selection method includes selecting the construction robot for the current process, and when the current construction process is carried out to a preset progress, selecting the construction robot for the next process; the first control instruction is used to instruct the selected construction robot to perform construction along the construction path.

2. The method according to claim 1, It is characterized in that The road paving process includes a roadbed filling process, a side ditch slope protection road piling process and a material transportation process; the method also includes: Obtain a high-precision map of the construction site, and use the survey robot to perform alignment measurement and construction layout of the road to be paved; the alignment measurement includes measurement of the road centerline and elevation points; the construction layout includes edge layout and cross-section layout; The high-precision map is reconstructed based on the results of the alignment measurement and the results of the construction stakeout, and the roadbed width, roadbed elevation, roadbed edge structure and borrow field location of the road to be paved are fitted in the high-precision map; wherein: the roadbed width is obtained based on the center line of the road and the results of the cross-section stakeout, the roadbed elevation is obtained based on the elevation point, and the roadbed edge structure and the borrow field location are obtained based on the results of the edge stakeout; Determine the construction path of the roadbed filling process based on the roadbed width and the roadbed elevation, determine the construction path of the ditch slope protection process based on the roadbed edge structure, and determine the construction path of the material transportation process based on the borrow yard position; The map information is obtained by marking the construction path of the roadbed filling process, the construction path of the ditch slope protection process and the location of the borrow field in the reconstructed high-precision map.

3. The method according to claim 2, It is characterized in that The method further comprises: Acquire work order information of the road to be paved; the work order information includes target tasks of each process and the period for achieving the target tasks; Searching for available construction robots according to the process as candidate robots, and obtaining equipment information of each candidate robot, wherein the equipment information includes the robot number and the corresponding construction efficiency; Selecting the construction robot with the highest construction efficiency among the candidate robots, and judging whether the selected construction robot can complete the target task within the achievement period in combination with the work order information of the road to be paved, and if so, issuing the first control instruction to the selected construction robot, and if not, entering the vertical division step; The longitudinal division step includes: obtaining the working space of each candidate robot, and obtaining a robot combination of all the candidate robots that meet the longitudinal parallel working condition according to the working space of the candidate robots and the width of the road to be paved, wherein the longitudinal parallel working condition is that the sum of the working ranges of all robots in the robot combination in the width direction of the road to be paved is compatible with the width of the road to be paved, and the robot combination includes at least two candidate robots; If the number of the robot combinations is one group, then the group of robot combinations is selected to perform longitudinal construction compliance judgment; If the number of the robot combinations is at least two, one of the robot combinations is selected through a preferential strategy to perform longitudinal construction compliance judgment; The longitudinal construction standard-reaching judgment comprises: combining the work order information of the road to be paved, judging whether the selected robot combination can complete the target task within the achievement period, and if so, issuing the first control instruction to the selected robot combination, and if not, entering the horizontal division step; The horizontal division step includes: combining the equipment information of the candidate robots and the work order information of the road to be paved, dividing the road to be paved along the length direction of the road into at least two synchronous construction sections, configuring a group of the robot combinations for each synchronous construction section, and issuing the first control instruction to the configured robot combination.

4. The method according to claim 3, It is characterized in that The optimization strategy includes: obtaining the minimum value of the construction efficiency of each candidate robot in each group of the robot combination and recording it as the minimum construction efficiency of each group of the robot combination; based on the minimum construction efficiency and in combination with the work order information of the road to be paved, selecting a qualified robot combination, wherein the qualified robot combination represents a robot combination that can complete the target task within the achievement period calculated based on the minimum construction efficiency; if the number of the qualified robot combinations is one group, then this group of qualified robot combinations is used as the selection result of the optimization strategy; if the number of the qualified robot combinations is at least two groups, then the robot combination with the smallest discrete degree of construction efficiency of each candidate robot is selected as the selection result of the optimization strategy.

5. The method according to claim 3, It is characterized in that The callable construction robots include construction robots that are online, have not synchronized the map information, and have energy reserves greater than a preset percentage.

6. The method according to claim 3, It is characterized in that The roadbed filling process includes a bottom filling process, an asphalt paving process and a road surface flattening process which are performed in sequence; when the current construction process is carried out to a preset progress, selecting the construction robot for the next process includes: In response to the bottom filling process being carried out to a first preset progress, a construction robot is selected according to an evaluation result of the construction efficiency of the construction robot corresponding to the asphalt paving process; the first preset progress is determined by the construction efficiency of the construction robot corresponding to the asphalt paving process; In response to the asphalt paving process progressing to a second preset progress, a construction robot is selected based on an evaluation result of the construction efficiency of the construction robot corresponding to the pavement flattening process; the second preset progress is determined by the drying time of the asphalt paving process and the construction efficiency of the construction robot corresponding to the pavement flattening process.

7. The method according to claim 2, It is characterized in that The method further comprises: When a first control instruction is issued to a construction robot of a current process, a second control instruction is issued to the construction robot corresponding to the current process to move to a starting position of a corresponding construction path; In response to the acquired position of the construction robot coinciding with the starting point of the construction path, the first control instruction is issued to the construction robot.

8. The method according to claim 7, It is characterized in that The method further comprises: When a first control instruction is issued to a construction robot of a current process, the position of the construction robot corresponding to the current process is obtained, and according to the change in the position of the construction robot between units and the distance between the construction robot and the corresponding starting point of the construction path, the arrival time of the construction robot at the starting point of the construction path is calculated; In response to the arrival time exceeding the first preset time length, a movement restriction prompt message is output; the movement restriction prompt message is used to instruct to obtain a scene image taken by a camera carried by the construction robot and send it to the staff.

9. The method according to claim 8, It is characterized in that The method further comprises: In response to the arrival time exceeding a second preset time length, a construction robot fault prompt message is output; the fault prompt message is used to obtain parameter information of the construction robot through a sensor carried by the construction robot; the parameter information includes: energy supply parameters, power component parameters, sensor parameters and navigation system parameters; wherein: the second preset time length is greater than the first preset time length.

10. A road paving device based on multi-robot collaboration, It is characterized in that The robots include survey robots and construction robots; the device includes: A map information synchronization module, used to obtain map information of the road to be paved, and synchronize the map information to the construction robot corresponding to the road paving process; the map information includes the construction path of each construction robot surveyed by the survey robot; An instruction issuing module is used to issue a first control instruction according to a preset control strategy; the preset control strategy includes a method for selecting the construction robot for each process; the selection method includes selecting the construction robot for the current process, and when the current construction process is carried out to a preset progress, selecting the construction robot for the next process; the first control instruction is used to instruct the selected construction robot to perform construction along the construction path.

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