Multi-robot scheduling method and system

Abstract

The invention relates to the technical field of automation, and provides a multi-robot scheduling method and system, and the method comprises the steps: obtaining an environment map of a current environment, and determining a preset mobile resource in the current environment according to the environment map; based on a preset path planning task queue, obtaining a to-be-planned task of the target robot; executing a path planning operation according to the environment map and the initial position and the target position of the to-be-planned task to obtain a moving path of the target robot; according to the moving path of the target robot and the preset moving resource, determining a target moving resource required by the target robot to move based on the moving path; and controlling at least one target robot to move based on the target moving resource, and updating the target moving resource of each target robot in the moving process of the target robot. And the multiple robots in the same area are prevented from being blocked and collided, and the moving safety of the robots is improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a multi-robot scheduling method and system. Background Art

[0002] As robot technology matures, more and more fields are beginning to use mobile robots for transportation, such as warehousing, industrial production, and service. In these application scenarios, there are usually multiple robots performing mobile operations in the same area, and there may be some narrow passages in the area where the robots are located, which may cause the robots to be blocked or collided, or even cause damage to the equipment in the area. How to schedule multiple robots to avoid congestion and collisions and improve the mobility of robots has become an urgent problem to be solved. Summary of the invention

[0003] The main purpose of this application is to provide a multi-robot scheduling method and system, aiming to avoid congestion and collision among multiple robots in the same area and improve the movement safety and efficiency of the robots.

[0004] In a first aspect, the present application provides a multi-robot scheduling method, the multi-robot scheduling method comprising the following steps:

[0005] Acquire an environment map of the current environment, and determine preset mobile resources in the current environment according to the environment map;

[0006] Based on the preset path planning task queue, obtain the tasks to be planned for the target robot;

[0007] Performing a path planning operation according to the environment map and the starting position and target position of the task to be planned to obtain a moving path of the target robot;

[0008] According to the moving path of the target robot and the preset moving resources, determining the target moving resources required for the target robot to move based on the moving path;

[0009] At least one of the target robots is controlled to move based on the target movement resource, and the target movement resources of each of the target robots are updated during the movement of the target robot.

[0010] In a second aspect, the present application also provides a multi-robot scheduling system, which includes at least one target robot and a multi-robot scheduling device that is communicatively connected to each of the target robots, and the multi-robot scheduling device is used to execute the multi-robot scheduling method described in any one of the embodiments of the present application.

[0011] The present application provides a multi-robot scheduling method and system, which obtains an environmental map of the current environment and determines the preset mobile resources in the current environment according to the environmental map; obtains the task to be planned of the target robot based on the preset path planning task queue; performs path planning operations according to the environmental map and the starting position and target position of the task to be planned to obtain the moving path of the target robot; determines the target mobile resources required for the target robot to move based on the moving path according to the moving path of the target robot and the preset mobile resources; controls at least one of the target robots to move based on the target mobile resources, and updates the target mobile resources of each target robot during the movement of the target robot. The target robot is controlled to move step by step in the form of mobile resources. Since each mobile resource can only be occupied by one robot at the same time, it can avoid congestion and collision of multiple robots in the same area, thereby improving the mobile safety and mobile efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 A schematic diagram of a flow chart of a multi-robot scheduling method provided in one embodiment of the present application;

[0014] Figure 2 A diagram of a use scenario of a multi-robot scheduling method provided in one embodiment of the present application;

[0015] Figure 3 A schematic diagram of determining preset mobile resources according to an environment map provided in an embodiment of the present application;

[0016] Figure 4a-4d A schematic diagram of a bidirectional mobile channel provided in an embodiment of the present application;

[0017] Figure 5 A schematic diagram of multi-robot scheduling for a bidirectional mobile channel provided in an embodiment of the present application;

[0018] Figure 6a , Figure 6b A schematic diagram of target mobile resource update provided in an embodiment of the present application;

[0019] Figure 7a-7c This is a schematic diagram of a multi-robot congestion situation provided in an embodiment of the present application;

[0020] Figure 8 A schematic diagram of a robot avoidance movement task provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0023] Exemplarily, the robot provided in the embodiment of the present application may be, for example, an AGV (Automated Guided Vehicle) robot, which is an automated transportation device widely used in industrial automated production lines, medical treatment, logistics and other fields. In the process of performing operations, the AGV robot needs to travel from a starting position to a target position along a certain moving path, and since there are multiple AGV robots in the same environment, multiple AGV robots may travel to the same position at the same time, resulting in congestion or collision. In addition, there may be some relatively narrow passages in the operating environment of the AGV robot, so that the AGV robot needs to travel close to the equipment placed in the environment, and the AGV robot cannot rotate in place. In order to avoid the AGV robot being stuck due to insufficient space for turning around, or even colliding with the equipment placed in the environment, the rationality of the AGV robot scheduling in a multi-robot scenario is crucial.

[0024] In order to solve the above problems, an embodiment of the present application provides a multi-robot scheduling method and system.

[0025] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0026] Please refer to Figure 1 , Figure 1A flowchart of a multi-robot scheduling method provided for an embodiment of the present application. The multi-robot scheduling method can be used in a terminal or a server to implement the scheduling of multiple robots in the same area through the terminal or the server. The terminal can be an electronic device such as a mobile phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device; the server can be an independent server, or a server cluster, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (CDN), and big data and artificial intelligence platforms.

[0027] Please refer to Figure 2 , Figure 2 This is a usage scenario diagram provided by an embodiment of the present application. Figure 2 As shown, the multi-robot scheduling device can be deployed in a terminal or a server, and communicate with multiple target robots in the same area to perform path planning and mobile resource allocation for the first robot, the second robot, ..., the Nth robot, and the number of robots is not limited here. Among them, when the multi-robot scheduling device performs path planning and mobile resource allocation for the first robot, the first robot is the target robot, and the other robots that are communicated with the multi-robot scheduling device are collaborative robots of the first robot.

[0028] like Figure 1 As shown, the multi-robot scheduling method includes steps S101 to S105.

[0029] Step S101: Acquire an environment map of a current environment, and determine preset mobile resources in the current environment according to the environment map.

[0030] Exemplarily, the environment map can be a two-dimensional or three-dimensional map such as a topological map or a grid map used to characterize the current environment and positions of multiple robots. The type of map can be determined based on the algorithm used for path planning and the implementation scenario of the multi-robot scheduling method, and is not limited here.

[0031] In some implementations, acquiring an environment map of the current environment, and determining a preset mobile resource in the current environment according to the environment map, includes:

[0032] Determining the resource size of the preset mobile resource according to the robot size of the target robot;

[0033] The preset mobile resource is determined in the environment map according to the resource size.

[0034] For example, if the environment map is a grid map, the preset mobile resource may be each grid in the environment map. Of course, it is not limited thereto, and the preset mobile resource may also be determined according to the size of the target robot, for example, the size of the mobile resource is determined according to the size of the robot, and then the environment map is segmented based on the size of the mobile resource, and the environment map is segmented into multiple preset mobile resources.

[0035] In some implementations, determining the resource size of the preset mobile resource according to the robot size of the target robot includes:

[0036] Using the robot size of the target robot as the resource size of the preset mobile resource; or

[0037] The expanded size of the robot after the size is expanded in at least one target direction is used as the resource size of the preset mobile resource.

[0038] Exemplarily, the size of the robot may be used as the resource size of the preset mobile resource, and a preset mobile resource having the same area size as the area occupied by the target robot may be divided out in the environment map.

[0039] For example, in order to avoid the robots being too close to each other, or the robots being too close to obstacles in the environment, which may cause the target robot to collide with the adjacent collaborative robots or obstacles, the resource size of the preset mobile resource may be slightly larger than the robot size. Therefore, the expanded size of the robot after expanding in at least one target direction is used as the resource size, wherein the expanded size is used to ensure that when two robots occupy adjacent mobile resources, there is still a certain distance between the two robots. The size of the expanded size can be set according to actual needs, for example, it can be expanded by 20cm based on the robot size; the target direction can be one or more of the front, back, left, and right, or it can be expanded in all directions around the target robot with the target robot as the center and the expanded size as the radius.

[0040] Please refer to Figure 3 , Figure 3 A schematic diagram of determining preset mobile resources based on an environment map provided in an embodiment of the present application.

[0041] like Figure 3 As shown, the embodiment of the present application will Figure 3 The environment map in is divided into 101 preset mobile resources. Exemplarily, the expanded target direction can be a direction surrounding the robot's location in the environment map, for example, when the robot is located Figure 3 When the robot is at point 101 in the diagram, the size of the robot is expanded toward point 1 to obtain the preset mobile resources occupied by the robot, so as to prevent other robots from traveling to point 1 and causing blockage or collision with the robot at point 101.

[0042] Step S102: Based on the preset path planning task queue, the tasks to be planned of the target robot are obtained.

[0043] Exemplarily, since it is necessary to plan the moving paths of multiple robots, the multi-robot scheduling method provided in the embodiment of the present application manages the path planning tasks of each target robot through a path planning task queue. Specifically, the multi-robot scheduling device obtains the path planning task in the path planning task queue, and the path planning task includes the target robot identifier, the starting position of the target robot, and the target position of the task.

[0044] Exemplarily, after obtaining the path planning task, first determine whether the target robot is on track based on the target robot identification and the starting position, that is, whether the target robot is connected to the multi-robot scheduling device and is located at a position in the current environment that allows the robot to move. If the above conditions are not met, an abnormal prompt is pushed; after determining that the target robot is on track, determine whether the target position is reachable, that is, determine whether the target position is a position that the target robot can reach on the environment map. If the above conditions are not met, an abnormal prompt is pushed; if all the above conditions are met, start planning a moving path for the target robot from the starting position to the target position.

[0045] Step S103: performing a path planning operation according to the environment map and the starting position and target position of the task to be planned, to obtain a moving path of the target robot.

[0046] Exemplarily, the path planning operation may be based on a preset path planning algorithm to determine an optimal path from a starting position to a target position, wherein the path planning algorithm may be, for example, a Dijkstra algorithm or an A* search algorithm.

[0047] Dijkstra's algorithm is applicable to directed or undirected maps with non-negative edge weights in the graph, and is used to calculate the shortest path from a vertex as a source point to all other vertices in the environment map. The basic idea of ​​Dijkstra's algorithm is to start from the source point and gradually expand to more and more distant vertices until the entire graph is covered. In each step, the algorithm selects a vertex that has not been visited yet, whose distance to the source point is the known shortest path length, and then updates the shortest path estimate of the unvisited vertices directly connected to it.

[0048] The A* search algorithm is a heuristic search algorithm that introduces global information when checking each possible node in the shortest path, estimates the distance from the current node to the end point, and uses it as a measure to evaluate the possibility of the node being on the shortest route, thereby determining a shortest moving path.

[0049] Step S104: Determine, according to the moving path of the target robot and the preset moving resources, the target moving resources required for the target robot to move based on the moving path.

[0050] Exemplarily, the position occupied by the target robot in the environment map is managed in the form of mobile resources. When the target robot moves to a certain position or is about to move to a certain position, the preset mobile resource corresponding to the position is occupied as the target mobile resource; when the target robot leaves the position, the occupation of the target mobile resource is released. Each preset mobile resource can only serve as a target mobile resource of a target robot at the same time. If the target mobile resource required by the target robot is currently occupied by other robots, wait for the occupation of the mobile resource to be released. This avoids congestion and collision caused by multiple robots moving to the same preset mobile resource at the same time.

[0051] In some embodiments, determining, according to the moving path of the target robot and the preset moving resources, the target moving resources required for the target robot to move based on the moving path includes:

[0052] Determining, according to the moving path of the target robot and the preset moving resources, candidate moving resources required for the target robot to move based on the moving path;

[0053] Acquire resource attributes of the candidate mobile resource, where the resource attributes include: unidirectional mobile resource and bidirectional mobile resource, wherein the bidirectional mobile resource is a mobile resource in a bidirectional mobile channel;

[0054] In a case where the resource attribute of the candidate mobile resource is the bidirectional mobile resource, the bidirectional mobile channel to which the bidirectional mobile resource belongs is determined as the target mobile resource.

[0055] For example, there are some narrow passages in the environment map. These passages need to provide a two-way passage function to allow the robot to move forward or backward in the passage. However, since the passage can only accommodate one robot, it is impossible to allow two robots to pass in different directions. Therefore, when scheduling multiple robots, these locations need to be specially processed. Specifically, the bidirectional, continuous, non-forking paths in the environment map that can only accommodate one robot are set as bidirectional movement channels, and the preset movement resources contained in the bidirectional movement channels are bidirectional movement resources.

[0056] Please refer to Figure 4a-4d , Figure 4a-4d A schematic diagram of a bidirectional mobile channel provided in an embodiment of the present application.

[0057] like Figure 4a-4d As shown, Figure 4a-4dThe path in the box is a bidirectional moving channel, which can be manually preset in the environment map or automatically identified based on preset identification rules and algorithms, which is not limited here.

[0058] For example, since AGV robots cannot turn on the spot, when a target robot enters a two-way moving channel, all the two-way moving resources that make up the two-way moving channel need to be determined as the target moving resources of the target robot to prevent other robots from entering the two-way moving channel and causing multiple robots to be stuck in the two-way moving channel.

[0059] In some implementations, when the resource attribute of the candidate mobile resource is the bidirectional mobile resource, determining the bidirectional mobile channel to which the bidirectional mobile resource belongs as the target mobile resource further includes:

[0060] In a case where the bidirectional moving channel is occupied by the collaborative robot, determining a first moving direction of the collaborative robot in the bidirectional moving channel;

[0061] A target movement resource of the target robot is determined according to the first movement direction and the second movement direction of the target robot.

[0062] For example, whether two robots simultaneously being in a two-way moving channel will cause congestion is related to the moving directions of the two robots. If the moving direction of the target robot is the same as that of the collaborative robot already in the two-way moving channel, the target robot can follow the collaborative robot to move in the two-way moving channel; conversely, if the moving directions of the target robot and the collaborative robot are different, both entering the two-way moving channel at the same time will cause congestion. Therefore, it is necessary to determine whether the target robot is allowed to enter the two-way moving channel when the collaborative robot occupies the two-way moving channel based on the first moving direction of the collaborative robot and the second moving direction of the target robot.

[0063] In some embodiments, determining the target movement resource of the target robot according to the first movement direction and the second movement direction of the target robot includes:

[0064] When the first moving direction is the same as the second moving direction of the target robot, determining at least a portion of the bidirectional moving channel as the target moving resource;

[0065] When the first moving direction is different from the second moving direction of the target robot, the target robot is instructed to leave the channel entrance of the bidirectional moving channel.

[0066] Exemplarily, if the first moving direction is the same as the second moving direction, the target robot is allowed to enter the two-way moving channel, and the two-way moving resources that have been unoccupied by the collaborative robot, that is, at least a part of the two-way moving channel, are determined as the target moving resources of the target robot. At this time, the target robot follows the collaborative robot to move in the two-way moving channel.

[0067] On the contrary, if the first moving direction is opposite to the second moving direction, the target robot is not allowed to enter the two-way moving channel. In addition, in order to avoid the target robot staying at the channel entrance of the two-way moving channel and blocking the channel entrance so that the collaborative robot cannot leave the channel entrance of the two-way moving channel, it is necessary to instruct the target robot to leave the channel entrance of the two-way moving channel.

[0068] Please refer to Figure 5 , Figure 5 A schematic diagram of multi-robot scheduling for a bidirectional mobile channel provided in an embodiment of the present application.

[0069] like Figure 5 As shown, if robot B occupies the two-way moving channel, and at the same time robots A, C, and D also need to pass through the two-way moving channel, robot A in the same direction as robot B can follow robot B through the two-way moving channel, while robots C and D in different directions from robot B need to wait outside the channel entrance until robots A and B leave the two-way moving channel, and then enter the two-way moving channel.

[0070] Step S105: Controlling the movement of at least one of the target robots based on the target movement resources, and updating the target movement resources of each of the target robots during the movement of the target robot.

[0071] Please refer to Figure 6a , Figure 6b , Figure 6a , Figure 6b A schematic diagram of target mobile resource update provided in one embodiment of the present application.

[0072] like Figure 6a As shown, the preset mobile resources in the moving path of robot A include point 6, point 4, point 7, point 2, and point 8 in sequence. When robot A moves from point 6 to point 4 along path e1, point 4 is determined as the target mobile resource of robot A. If point 4 has been occupied by other robots, robot A needs to wait for point 4 to be unoccupied. The preset mobile resources in the moving path of robot B include point 4, point 7, point 2, and point 8 in sequence. When robot B moves from point 4 to point 7 along path e3, point 7 is determined as the target mobile resource of robot A.

[0073] like Figure 6b As shown, after robot B leaves position 7 and releases its occupation of position 7, robot A determines position 7 as the target mobile resource and moves from position 4 to position 7 along path e3. In this way, position 7 can only be occupied by one robot at a time, avoiding congestion and collision caused by two robots going to position 7 at the same time.

[0074] In some embodiments, the target mobile resources include current mobile resources and preliminary mobile resources, and controlling the movement of at least one of the target robots based on the target mobile resources and updating the target mobile resources of each of the target robots during the movement of the target robots include:

[0075] When the target robot moves from a first position corresponding to the current mobile resource to a second position corresponding to the preliminary mobile resource, releasing the occupation of the current mobile resource;

[0076] The prepared mobile resource is updated to a new current mobile resource, and a new prepared mobile resource is determined according to the position of the current mobile resource in the mobile path.

[0077] Exemplarily, the current mobile resource is the preset mobile resource corresponding to the location of the target robot, and the reserve mobile resource is the next preset mobile resource that the target robot needs to reach during its movement. By releasing the mobile resources that the target robot has left and occupying the mobile resources that the target robot is about to reach, the preset mobile resources in the environmental map are managed to avoid congestion or collision caused by multiple robots occupying the same preset mobile resource at the same time, thereby improving the safety and efficiency of multi-robot scheduling.

[0078] For example, Figure 6a , Figure 6b In the figure, when robot A is located at point 6, point 6 is the current mobile resource of robot A, and point 4 is the reserve mobile resource of robot A; when robot A moves to point 4, point 4 is the current mobile resource of robot A, and point 7 is the reserve mobile resource of robot A, and so on.

[0079] In some embodiments, controlling the movement of at least one of the target robots based on the target movement resource, and updating the target movement resources of each of the target robots during the movement of the target robot, includes:

[0080] When the target mobile resource is occupied by a collaborative robot, obtaining a first avoidance cost of the target robot and a second avoidance cost of at least one collaborative robot occupying the target mobile resource;

[0081] Determining an avoiding robot that performs an avoiding operation and a corresponding target avoiding path from among the target robot and the collaborative robot according to the first avoiding cost and the second avoiding cost;

[0082] The avoidance robot is instructed to perform an avoidance operation according to the target avoidance path.

[0083] Please refer to Figure 7a-7c , Figure 7a-7c The first embodiment of the present application provides a schematic diagram of a multi-robot congestion situation.

[0084] like Figure 7a-7c As shown in the figure, the congestion generated between multiple robots can be divided into opposite congestion, ring congestion, regional congestion and so on. Figure 7a In the case of opposite-direction congestion, robots A and B need to move towards each other on the same path. This situation usually occurs when one of the robots needs to return to the starting position after operation. Figure 7b This is a circular congestion situation, where two or more robots form a circle in which they rear-end each other. This situation usually occurs in maps with dense road networks, such as QR code maps. Figure 7c In the case of area congestion, two robots need to occupy each other's area. This situation usually occurs when the preset mobile resources determined based on the expansion size are dense and adjacent.

[0085] Please refer to Figure 8 , Figure 8 A schematic diagram of a robot avoidance movement task provided in an embodiment of the present application.

[0086] In order to solve the congestion situation, it is necessary to determine the robot with the smallest avoidance cost from the multiple robots causing the congestion as the avoidance robot, and instruct the avoidance robot to perform an avoidance operation, where the avoidance cost can be the moving distance required to perform the avoidance movement task, etc., which is not limited here.

[0087] like Figure 8 As shown, robot b has a smaller avoidance cost than robot a, so robot b is instructed to perform the avoidance movement task.

[0088] In some embodiments, determining the avoiding robot that performs the avoidance operation and the corresponding target avoidance path from the target robot and the collaborative robot according to the first avoidance cost and the second avoidance cost includes:

[0089] Determining the target robot or the collaborative robot with the smallest avoidance cost as the avoidance robot according to the first avoidance cost and the second avoidance cost;

[0090] The avoidance movement task of the avoidance robot is added to the head of the path planning task queue.

[0091] Exemplarily, after determining the avoidance movement task, the avoidance movement task is added to the head of the path planning task queue, and the avoidance movement task is executed with priority to release the robot affected by congestion from the congestion as soon as possible, thereby improving the multi-robot scheduling efficiency.

[0092] The multi-robot scheduling method provided by the present application obtains an environmental map of the current environment, and determines the preset mobile resources in the current environment according to the environmental map; obtains the task to be planned of the target robot based on the preset path planning task queue; performs path planning operations according to the environmental map and the starting position and target position of the task to be planned, and obtains the moving path of the target robot; determines the target mobile resources required for the target robot to move based on the moving path according to the moving path of the target robot and the preset mobile resources; controls at least one of the target robots to move based on the target mobile resources, and updates the target mobile resources of each target robot during the movement of the target robot. The target robot is controlled to move step by step in the form of mobile resources. Since each mobile resource can only be occupied by one robot at the same time, it can avoid congestion and collision of multiple robots in the same area, thereby improving the mobile safety and mobile efficiency of the robot.

[0093] An embodiment of the present application also provides a multi-robot scheduling system, which includes at least one target robot and a multi-robot scheduling device that is communicatively connected to each of the target robots, and the multi-robot scheduling device is used to execute the multi-robot scheduling method as described in any one of the embodiments of the present application.

[0094] Exemplarily, the multi-robot scheduling device communicates with multiple target robots in the same environment through WiFi, Bluetooth, etc., so as to realize path planning and distribution of mobile resources for multiple target robots in the same environment, improve the orderliness of multi-robot scheduling, avoid congestion and collision of multiple robots in the same area, and improve the movement safety of robots.

[0095] Exemplarily, the working principle of the multi-robot scheduling device can refer to the multi-robot scheduling method described in any one of the embodiments of the present application, and will not be elaborated here.

[0096] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0097] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0098] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A multi-robot scheduling method, characterized in that: The method comprises: Acquire an environment map of the current environment, and determine preset mobile resources in the current environment according to the environment map; Based on the preset path planning task queue, obtain the tasks to be planned for the target robot; Performing a path planning operation according to the environment map and the starting position and target position of the task to be planned to obtain a moving path of the target robot; Determining, according to the moving path of the target robot and the preset moving resources, the target moving resources required for the target robot to move based on the moving path; At least one of the target robots is controlled to move based on the target movement resource, and the target movement resources of each of the target robots are updated during the movement of the target robot.

2. The multi-robot scheduling method according to claim 1, characterized in that: The target movement resources include current movement resources and preparation movement resources. The controlling the movement of at least one target robot based on the target movement resources and updating the target movement resources of each target robot during the movement of the target robot include: When the target robot moves from a first position corresponding to the current mobile resource to a second position corresponding to the preliminary mobile resource, releasing the occupation of the current mobile resource; The prepared mobile resource is updated to a new current mobile resource, and a new prepared mobile resource is determined according to the position of the current mobile resource in the mobile path.

3. The multi-robot scheduling method according to claim 1, characterized in that: The step of determining, according to the moving path of the target robot and the preset moving resources, the target moving resources required for the target robot to move based on the moving path includes: Determining, according to the moving path of the target robot and the preset moving resources, candidate moving resources required for the target robot to move based on the moving path; Acquire resource attributes of the candidate mobile resource, where the resource attributes include: unidirectional mobile resource and bidirectional mobile resource, wherein the bidirectional mobile resource is a mobile resource in a bidirectional mobile channel; In a case where the resource attribute of the candidate mobile resource is the bidirectional mobile resource, the bidirectional mobile channel to which the bidirectional mobile resource belongs is determined as the target mobile resource.

4. The multi-robot scheduling method according to claim 3, characterized in that: The step of determining, when the resource attribute of the candidate mobile resource is the bidirectional mobile resource, the bidirectional mobile channel to which the bidirectional mobile resource belongs as the target mobile resource further includes: In a case where the bidirectional moving channel is occupied by the collaborative robot, determining a first moving direction of the collaborative robot in the bidirectional moving channel; A target movement resource of the target robot is determined according to the first movement direction and the second movement direction of the target robot.

5. The multi-robot scheduling method according to claim 4, characterized in that: The step of determining a target movement resource of the target robot according to the first movement direction and the second movement direction of the target robot comprises: When the first moving direction is the same as the second moving direction of the target robot, determining at least a portion of the bidirectional moving channel as the target moving resource; When the first moving direction is different from the second moving direction of the target robot, the target robot is instructed to leave the channel entrance of the bidirectional moving channel.

6. The multi-robot scheduling method according to claim 1, characterized in that: The obtaining of an environment map of the current environment and determining the preset mobile resources in the current environment according to the environment map includes: Determining the resource size of the preset mobile resource according to the robot size of the target robot; The preset mobile resource is determined in the environment map according to the resource size.

7. The multi-robot scheduling method according to claim 6, characterized in that: The step of determining the resource size of the preset mobile resource according to the robot size of the target robot includes: Using the robot size of the target robot as the resource size of the preset mobile resource; or The expanded size of the robot after the size is expanded in at least one target direction is used as the resource size of the preset mobile resource.

8. The multi-robot scheduling method according to claim 1, characterized in that: The controlling the movement of at least one of the target robots based on the target movement resource, and updating the target movement resources of each of the target robots during the movement of the target robot, comprises: When the target mobile resource is occupied by a collaborative robot, obtaining a first avoidance cost of the target robot and a second avoidance cost of at least one collaborative robot occupying the target mobile resource; Determining an avoiding robot that performs an avoiding operation and a corresponding target avoiding path from among the target robot and the collaborative robot according to the first avoiding cost and the second avoiding cost; The avoidance robot is instructed to perform an avoidance operation according to the target avoidance path.

9. The multi-robot scheduling method according to claim 8, characterized in that: The step of determining the avoiding robot that performs the avoiding operation and the corresponding target avoiding path from the target robot and the collaborative robot according to the first avoiding cost and the second avoiding cost includes: Determining the target robot or the collaborative robot with the smallest avoidance cost as the avoidance robot according to the first avoidance cost and the second avoidance cost; The avoidance movement task of the avoidance robot is added to the head of the path planning task queue.

10. A multi-robot scheduling system, characterized in that: The multi-robot scheduling system includes at least one target robot and a multi-robot scheduling device that is communicatively connected to each of the target robots, and the multi-robot scheduling device is used to execute the multi-robot scheduling method according to any one of claims 1 to 9.

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