Multi-robot scheduling method, robot and program product

Abstract

The invention discloses a multi-robot scheduling method, a robot and a computer program product. The scheduling method is applied to a main robot, and the main robot is determined from robots of different business line types in mixed operation in a target business scene. The master robot constructs a basic map of a target area corresponding to the target business scene, synchronizes the basic map to the at least one slave robot, and combines configuration data (including business configuration data required by the master robot and the slave robot for first operation on the corresponding business line) to obtain a full map; and then, the master robot generates a scheduling resource packet based on the total map, and synchronizes the scheduling resource packet to each slave robot, so that each robot in the target area can realize collision-free collaborative operation. According to the scheduling method, the scheduling configuration of the hybrid service line robots is simplified, and the deployment period of the multiple robots is effectively shortened.

Description

Technical Field

[0001] This application belongs to the technical field of robots, and particularly relates to a scheduling method for multiple robots, a scheduling device for multiple robots, a robot, and a computer program product. Background Art

[0002] The development of intelligent mobile robots has brought convenience to multiple commercial scenarios. For example, multiple food delivery robots deliver food to customers in a restaurant, and multiple hotel delivery robots or guiding robots in a hotel achieve cross-floor delivery of items or guide users to find their guest rooms. Robots on different business lines in the same scenario (such as catering, hotel, industrial, cleaning robots, etc.) need to support coordinated work with each other, such as avoiding collisions when meeting and giving way in the same direction. This makes the deployment of robots on different business lines have problems of high scheduling configuration complexity and long deployment cycle. Summary of the Invention

[0003] This application provides a scheduling method for multiple robots, a robot, and a computer program product, which can simplify the scheduling configuration between robots on hybrid business lines, and thus effectively shorten the deployment cycle of multiple robots.

[0004] In a first aspect, this application provides a scheduling method for multiple robots, which is applied to a master robot. The master robot is determined from multiple robots of different business line models that will work together in a target business scenario. The scheduling method includes:

[0005] Construct a basic map of the target area corresponding to the target business scenario;

[0006] Synchronize the basic map to at least one slave robot; each slave robot is bound to the master robot and corresponds to a different business line model from the master robot;

[0007] Merge each configuration data into the basic map to obtain a full map; the configuration data is the business configuration data required for the master robot or any slave robot to operate under the corresponding business line, and is determined based on the basic map, the scene characteristics of the target area, and the corresponding business line type;

[0008] Generate a scheduling resource package based on the full map; the scheduling resource package at least includes a scheduling map;

[0009] Synchronize the scheduling resource package to each slave robot for the master robot and each slave robot to cooperate in the target area based on the scheduling resource package.

[0010] In a second aspect, this application provides a scheduling device for multiple robots, which is applied to a master robot. The master robot is determined from multiple robots of different business line models that will work together in a target business scenario. The scheduling device includes:

[0011] A building module for building a basic map of a target area corresponding to a target business scenario;

[0012] A synchronization module for synchronizing the basic map to at least one slave robot; each slave robot is bound to the master robot and corresponds to a different business line model from the master robot;

[0013] A merging module for merging each configuration data into the basic map to obtain a full-scale map; the configuration data is the business configuration data required for the master robot or any slave robot to operate under the corresponding business line, and is determined based on the basic map, the scene characteristics of the target area, and the corresponding business line type;

[0014] A generation module for generating a scheduling resource package based on the full-scale map; the scheduling resource package at least includes a scheduling map;

[0015] The synchronization module is further configured to: synchronize the scheduling resource package to each slave robot for the master robot and each slave robot to cooperate in the target area based on the scheduling resource package.

[0016] In a third aspect, the present application provides a robot, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method in the first aspect are implemented.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the method in the first aspect are implemented.

[0018] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, the steps of the method in the first aspect are implemented.

[0019] The beneficial effects of the present application compared with the prior art are as follows: Applied to the master robot, the master robot is determined from robots of different business line models in mixed operation in the target business scenario. The master robot first constructs a basic map of the target area corresponding to the target business scenario, and then synchronizes the basic map to at least one slave robot. After synchronization, the master robot and each slave robot can generate corresponding configuration data in response to relevant configuration operations. Each slave robot can send the configuration data corresponding to itself to the master robot for the master robot to obtain the characteristic data corresponding to different business line models, that is, to obtain the respective configuration data corresponding to the operations of different business line models. Each configuration data can be regarded as full-scale data. By merging it into the basic map, a full-scale map can be obtained. Then, the scheduling resource package generated by the master robot based on the full-scale map covers the data required for the operations of robots of each business line model. By synchronizing the scheduling resource package to each slave robot, it is possible to enable multiple business line robots in the target area to perform collision-free collaborative operations. This scheduling method simplifies the scheduling configuration between mixed business line robots, thereby effectively shortening the deployment cycle of multiple robots.

[0020] It can be understood that the beneficial effects of the second to fifth aspects above can be referred to the relevant descriptions in the first aspect above, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1a 、 Figure 1b and Figure 1c are schematic diagrams of robots of different models in the catering business line provided by the embodiments of the present application;

[0023] Figure 2 is a schematic diagram of a robot in the hotel business line provided by the embodiments of the present application;

[0024] Figure 3 is a schematic diagram of a robot in the cleaning business line provided by the embodiments of the present application;

[0025] Figure 4 is a schematic diagram of a robot in the factory business line provided by the embodiments of the present application;

[0026] Figure 5 is a schematic diagram summarizing the multiple function differences of robots of different business lines provided by the embodiments of the present application;

[0027] Figure 6It is a schematic flowchart of the scheduling method for multi-robots provided by an embodiment of the present application;

[0028] Figure 7 It is a schematic diagram of the specific point data corresponding to the point data items of the business line models provided by an embodiment of the present application;

[0029] Figure 8 It is a schematic structural diagram of the scheduling device for multi-robots provided by an embodiment of the present application;

[0030] Figure 9 It is a schematic structural diagram of the robot provided by an embodiment of the present application. Detailed implementation manners

[0031] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0032] Robots in different business lines have distinct characteristics. For example, food delivery robots in the catering business line include models that are small and flexible in size and can operate efficiently in narrow areas; distribution robots in the industrial business line are usually relatively large in size and have outstanding advantages in transporting large-volume goods; guest room delivery robots in the hotel business line are equipped with closed hatches to effectively protect the privacy of guests.

[0033] With the growth of market demand, it has become difficult to meet the diverse needs of customers by using only a single model in a single venue. In actual scenario applications, in order to meet the diverse needs of customers and shorten the development cycle of robots, existing and maturely developed robots can be reused in some scenarios according to the characteristics of robots in different business lines.

[0034] Exemplarily, in a hotel scenario, a distribution robot originally designed for the industrial business line can be used to carry guests' suitcases, and the guest room delivery robot in the hotel business line can be automatically docked with the cargo container or docked with the staff to specifically deliver small items for guest rooms such as takeaways, snacks, water, or documents.

[0035] Exemplarily, in a factory scenario, small food delivery robots in the catering business line can be used to transport small parts, while distribution robots in the industrial business line undertake the task of transporting large-volume goods.

[0036] That is, in the current application scenarios, there is a need to mix and use robots from different business lines. However, in the past, robots from each business line operated independently in their corresponding scenarios, so there was a lack of a scheduling mechanism between robots from different business lines. This has led to collisions easily occurring when robots from different business lines are mixed because they "don't recognize each other", which not only brings a poor experience to users but may also cause problems such as compensation.

[0037] Therefore, the multi-robot scheduling between different business lines has become an urgent problem to be solved. However, current multi-robot scheduling faces many difficulties. For example, in existing software and underlying algorithms, the robot scheduling capabilities of each business line vary, and the business configuration data required for scheduling is also different. Take the robots in the catering business line as an example. Their scheduling requires a group number, while robots in other business lines do not have this requirement. But if one piece of business configuration data is not satisfied, it is difficult to achieve scheduling.

[0038] From the perspective of scheduling capabilities, that is, the comprehensive operation capabilities of the machines in the current scenario, including aisle passing capabilities, obstacle avoidance capabilities, etc. Since the volumes of robots in each business line are different, for example, some robots in the catering business line can pass through certain aisles smoothly, while robots in the industrial business line have difficulty passing through. That is to say, the robots used in different business lines have differences in models, functions, etc., and the configured maps used are also different. In order to enable multi-robots to cooperate in operations, the scheduling of multi-robots needs to be configured accordingly according to the characteristics of robots in each business line. This not only has a high configuration complexity but also has a long scheduling cycle and unsatisfactory scheduling effects.

[0039] To solve this problem, the present application proposes a multi-robot scheduling method. By the master and slave robots cooperating to construct a full-scale map covering the operation requirements of models in each business line, robots from different business lines can share unified map data. The master robot generates a scheduling resource package based on this full-scale map and synchronizes it to the slave robots, thereby simplifying the scheduling configuration process in the mixed operation scenario. This method not only improves the unity and cooperation efficiency of multi-business line robot scheduling but also effectively shortens the deployment cycle of the multi-robot system and improves the overall scheduling effect. The control method proposed in the present application will be described below through specific embodiments.

[0040] The multi-robot scheduling method provided in the embodiments of the present application is mainly applied to the selected master robot and can also be applied to other electronic devices that can establish a communication connection with the master robot, such as a super mobile personal computer. The embodiments of the present application do not impose any restrictions on the specific types of electronic devices.

[0041] In some embodiments, different business lines may include a catering business line, a hotel business line, an industrial business line, a cleaning business line, etc. For different business lines, the corresponding models are at least one.

[0042] Exemplarily, referring to Figure 1a 、 Figure 1b and Figure 1c , in order to meet different food delivery requirements, the food and beverage business line (which can be denoted as the T series) may include at least three models as shown in the figure, namely, the private room delivery robot T3, the flexible delivery robot T8 (suitable for restaurant scenarios with variable road conditions such as a combination of wide and narrow roads), and the general-purpose delivery robot T9 (suitable for most restaurant scenarios).

[0043] Exemplarily, in the hotel application scenario, the robot operation is relatively single. The hotel business line (denoted as the W series) includes the guest room delivery robot W3 as shown in Figure 2 and focuses on the delivery of small items in hotel guest rooms.

[0044] Exemplarily, for the robot C30 of the cleaning business line model that can be applied in scenarios with cleaning requirements, reference can be made to Figure 3 .

[0045] Exemplarily, for the general-purpose transport robot S100 in the industrial scenario, reference can be made to Figure 4 .

[0046] Considering that not only the configuration data used by robots in different business lines during operation are different, but also for robots with the same business line but different models, such as the private room delivery robot T3, the general-purpose delivery robot T9, and the narrow-road delivery robot T8 in the T series, there are also differences in the configuration data used by these robots during operation. Therefore, in order to make the scheduling method of the present application applicable to robots of each business line model, the master robot can be determined from multiple robots of different business line models that will operate jointly in the target business scenario.

[0047] Exemplarily, for example, if the target business scenario is a hotel scenario, in this scenario, in addition to using the guest room delivery robot W3 of the W series for guest room delivery, the general-purpose industrial transport robot S100 of the industrial business line (S series) can also be used to transport large pieces of luggage, and the mobile cleaning robot of the C series can be used to clean areas such as the hotel lobby and corridors, such as the model C30; if the hotel is also equipped with in-room dining, then some models of the T series can also be selected for food delivery in the restaurant area, such as T9 and T3. Correspondingly, the master robot will be determined from the robots of these business line models W3, C30, S100, T9, and T3.

[0048] That is to say, the splicing of each model corresponding to each business line is used as the scheduling object during multi-robot scheduling, and the master robot will be determined from these scheduling objects. Correspondingly, robots of other business lines can be used as slave robots.

[0049] Specifically, the master robot can be selected from multiple aspects.

[0050] Exemplarily, the master robot can be determined based on the differences in the mapping functions. The T-series robots collect a large amount of data during mapping but do not require multi-floor mapping; the S-series robots support multi-floor mapping and recording tags, but due to their large size, mapping is inconvenient; in the scenario where the W-series robots are paired with the scenario maps of the C-series robots, the mapping is more comprehensive and clear. Based on this, the mapping recommendation principle is W > C > T > S.

[0051] Exemplarily, refer to Figure 5 , Figure 5 which shows the multiple functional differences of robots in different business lines. The more functions the master robot has, the less data needs to be synchronized. Therefore, the robot of the model with the most functions in the business line can be selected as the master robot. That is, W3 is determined as the master robot to reduce the complexity of the subsequent data merging of the master robot.

[0052] Exemplarily, to improve the flexibility of mapping, the mapping process guidance may include: when the user creates a new scenario through a certain robot, the robot operating system (ROS) of this robot can provide single-machine / multi-machine options for the user to choose. After the user selects the multi-machine option, ROS can respond to this selection and provide multiple models in different business lines for the user to select. In response to the user's selection operation, ROS can recommend the master robot for multi-robot scheduling according to the determined models in different business lines.

[0053] To illustrate the technical solution proposed in this application, each embodiment will be described below with the master robot determined in the above embodiments as the execution subject.

[0054] Figure 6 shows a schematic flowchart of the multi-robot scheduling method provided in this application. The multi-robot scheduling method includes:

[0055] Step 610, the master robot constructs a basic map of the target area corresponding to the target business scenario.

[0056] The target business scenario is also the business scenario in which robots of different models in different business lines will cooperate. The area corresponding to the target business scenario is the target area. Each robot cooperates within the target area. Therefore, the master robot can construct a basic map of the target area. The target business scenario is, for example, a certain hotel.

[0057] Exemplarily, the master robot can first conduct a full-range mapping of the target area. Specifically, during the mapping stage, the master robot can be pushed to move along a preset path planning with the set starting point of this machine as the benchmark. During the movement, using sensors such as lidar and cameras carried by itself, it can collect the spatial information of the surrounding environment in real time, such as the position of the wall, the outline of the obstacle, etc. These information will be recorded in the form of point cloud data.

[0058] Exemplarily, in the target business scenario of a factory, the main robot can perform map scanning within its target area, around objects such as large equipment and shelves, and accurately record their positions and shapes.

[0059] After completing the map scanning, it enters the map refinement process. The main robot can optimize the initially formed map data according to the built-in algorithm. For the error data points caused by sensor errors or environmental interference during the map scanning process, and the temporarily moving obstacles, the main robot can automatically identify and delete them according to relevant algorithms or preset conditions. At the same time, for some unclear area boundaries, the main robot can accurately define them by combining its own movement trajectory and the data of multiple scans. For example, when scanning the map, due to light problems, there are noise points in part of the data of a certain wall. Through algorithm analysis, the main robot can remove these noise points to make the contour of the wall clearer and more accurate.

[0060] The basic map at least includes an electronic map that is consistent with the displayed scene in the target area. The electronic map completely presents the actual layout of the target area, and each entity structure in the target area has a corresponding identifier on the map.

[0061] Exemplarily, to meet user needs, the basic map can also include virtual walls, that is, virtual boundaries set artificially according to actual needs. For example, in a hotel scenario, certain VIP rest areas do not allow robots to enter casually. The main robot can set virtual walls in the map so that when other robots approach this area during subsequent task execution, they will automatically avoid receiving the signal of the virtual wall.

[0062] Exemplarily, in order to enable robots of different business line models to combine the characteristics of the target scenario and the business line, different areas can be divided based on the electronic map. That is, the basic map can also include each divided area.

[0063] Specifically, the main robot can reasonably divide the target area according to the characteristics of the target business scenario. In addition to the specific functional areas of the business scenario, such as the goods storage area, sorting area, and transportation channel area in a logistics warehouse, it can also include key configuration areas during the operation process, such as ordinary speed limit areas and congestion areas; if the target business scenario also includes a sub-scenario of a turnstile, the key configuration area also includes the turnstile area; if the target business scenario also includes a sub-scenario of crossing floors, the key configuration area also includes the elevator area. Through such detailed area division, robots of different business line models can perform tasks more efficiently during collaborative operations, improving the overall work efficiency.

[0064] Step 620: The main robot synchronizes the basic map to at least one slave robot.

[0065] A slave robot refers to a robot that is bound to the master robot and corresponds to different business line models from the master robot. Based on this, the master robot and each slave robot can cover all the robots of different business line models that cooperate in the target business scenario, thereby improving the reliability of the subsequent scheduling method.

[0066] Since the master robot is the most complete in terms of functions and configuration data, it constructs a basic map based on precise algorithms and high-precision sensors. The generated basic map can accurately and relatively comprehensively reflect the actual situation of the target area. Therefore, having the master robot draw the basic map and then synchronize it to each slave robot can greatly ensure data consistency. In this way, when synchronized to the slave robots, the basic map information obtained by each slave robot is highly unified, avoiding data deviation that may occur due to multi-source map drawing, and ensuring that all robots perform subsequent scheduling work based on the same and accurate map.

[0067] Step 630: The master robot combines each configuration data into the basic map to obtain a full-scale map.

[0068] Given that in addition to the differences in map scanning and functions, there are also regional differences in map configuration among robots of different series models, such as whether it includes custom areas such as ordinary speed limit areas, turnstile areas, elevator areas, congested areas, slope point speed limit areas, cleaning areas, and curtain doors; and in terms of database differences and service differences, each business line has characteristic functions due to scene usage. For example, the cleaning area, path, and other data of the cleaning series (C series) robots are stored in a separate new table, and other business line databases do not have this table.

[0069] To solve these differences and make collision-free operation among multiple robots possible, whether it is the master robot or each slave robot, corresponding difference data can be set in combination with the basic map. This difference data is the business configuration data required for the master robot or slave robot to operate under the corresponding business line. Therefore, this difference data can be recorded as configuration data.

[0070] Exemplarily, after each slave robot sets the corresponding configuration data, it can independently feedback the configuration data to the master robot for the master robot to combine.

[0071] Exemplarily, in order to reduce the complexity of scheduling each slave robot, the master robot can be in charge of data combination, that is, the master robot can send a combination request instruction to each slave robot to obtain the corresponding configuration data of each slave robot, and then achieve combination. Specifically, it can be operated through the on-board operation screen of the master robot.

[0072] After the master robot combines each configuration data into the basic map, a full-scale map is obtained. This full-scale map covers the map data required for the operation of all the robots of different business line models that cooperate in the target business scenario.

[0073] Step 640: The master robot generates a scheduling resource package based on the full-scale map.

[0074] After unifying the map data, the master robot can generate a corresponding scheduling resource package according to the full-scale map. The scheduling resource package includes at least a scheduling map. Specifically, the master robot utilizes its powerful computing power to deeply analyze various types of information in the full-scale map, such as identifying key elements like the width of channels, the distribution of obstacles, and the positions of different areas within the target area. Based on these analysis results, the master robot can generate a scheduling resource package that includes at least a scheduling map according to a specific scheduling algorithm and the full-scale map. It can be understood that the scheduling map generated based on the full-scale map contains the full-scale scheduling path, that is, it covers the scheduling paths required for the scheduling of robots of different business line models.

[0075] Step 650: The master robot synchronizes the scheduling resource package to each slave robot for the master robot and each slave robot to perform collaborative operations within the target area based on the scheduling resource package.

[0076] The scheduling resource package constitutes the cornerstone for the subsequent collaborative operations of robots of different business line models. After the master robot synchronizes the scheduling resource package to each slave robot, during the collaborative operation process, due to the comprehensiveness and consistency of the map data contained in the scheduling resource package, the understanding of the target area environment by each robot reaches a high degree of unity. Each robot participating in the collaborative operation not only accurately masters the map data corresponding to its own operation but also masters the map data required for the operation of robots of other business line models. This enables the robots within the target area to achieve collision-free collaborative operations.

[0077] In this embodiment, the master robot has perfect capabilities in terms of functions and configuration data. It constructs a basic map using precise algorithms and high-precision sensors. This map can comprehensively and accurately reflect the actual situation of the target area, laying a foundation for subsequent scheduling configurations. The master robot synchronizes the basic map to each slave robot, enabling it to add the characteristic configuration data of its own business line on this basis. By integrating the configuration data of the master robot and each slave robot, the master robot generates a full-scale map that covers all the map information required for the operation of robots of all business line models in the target business scenario. The scheduling resource package generated based on the full-scale map is applicable to robots of all business line models. The master robot synchronizes this resource package to each slave robot to ensure the consistency of the scheduling data for all business line robots. Through this corresponding scheduling configuration, robots of all business line models can achieve collision-free collaborative operations within the target area. This scheduling process is not set separately for each business line model, but through data interaction between the master robot and the slave robots, the unified setting of scheduling data is realized, greatly simplifying the complexity of the scheduling configuration, thereby effectively shortening the deployment cycle of multiple robots.

[0078] In some embodiments, to achieve the scheduling of multiple robots, after determining the master robot, the master robot can respond to operations by the user based on the interactive interface built into the master robot, or bind the relevant instructions of the preset program to the robots of each non-master business line model first. The non-master business line models are other business line models in each business line except for the business line model corresponding to the master robot. That is, the robots of each non-master business line model are bound as slave robots. Specifically, the master robot performs the following steps:

[0079] Step A1: In the preset interface, the master robot responds to the triggering of the binding button corresponding to each non-master business line model, and binds a robot corresponding to the non-master business line model as a slave robot to the master robot.

[0080] The binding of the slave robot to the master robot is actively executed by the master robot. To reduce redundant data transmission and network overhead, the master robot selects only one robot for binding for each non-master business line model. This strategy ensures that subsequent configuration data can cover all non-master business line models, and at the same time enables the master robot to only receive and merge the corresponding configuration data. That is, for several non-master business line models, the master robot only needs to receive and merge several corresponding copies of configuration data.

[0081] Exemplarily, in a multi-robot collaborative operation scenario, there may be a situation where two or more robots of a single non-master business line model are bound as slave robots to the master robot. To effectively reduce the complexity of configuration data setting and data interaction, the master robot can adopt a specific strategy: for each non-master business line model, the master robot communicates only with the first bound slave robot.

[0082] Taking the hotel scenario as an example, assume that W3 is the master robot, and the T-series catering robot T8 participates in the collaborative operation as a non-master business line model, and there are 3 T8s as slave robots. At this time, the master robot W3 establishes a communication connection with the first bound T8 for scheduling settings. In this process, the master robot and the first bound T8 interact with the basic map, business configuration data, etc. to complete the scheduling settings of all robots.

[0083] That is to say, the other two T8s do not participate in the scheduling setup process with the main robot. After the main robot generates the scheduling resource package, it can synchronize it to the other two slave robots (the other two T8s) that did not participate in the scheduling setup in two ways. One way is for the main robot to directly synchronize the scheduling resource package to the other two T8s; the other way is to synchronize the scheduling resource package to the other two T8s through the first bound T8. In this way, it not only reduces the complexity caused by the direct interaction between the main robot and numerous slave robots, but also ensures that all slave robots can obtain accurate scheduling resource packages, so as to cooperate in the target area, effectively improving the efficiency of multi-robot cooperative operation and reducing the complexity of system operation.

[0084] In some embodiments, after the main robot is bound to the robots of each non-main business line model, the main robot can synchronize the pre-constructed basic map to each slave robot:

[0085] Step B1: The main robot pops up an operation dialog box in the preset interface.

[0086] When the main robot detects that the slave robot has been successfully bound, it can determine that the user expects to achieve mixed operation of robots of each business line model in the target business scenario. Based on this, the main robot will automatically pop up an operation dialog box in the preset interface. This dialog box is used to assist the user in confirming whether to start the multi-robot scheduling process, so as to efficiently coordinate each robot to carry out cooperative operations subsequently.

[0087] Exemplarily, the operation dialog box can display prompt text for prompting the user whether to start multi-robot scheduling, a confirm button (to start multi-robot scheduling), and a cancel button (not to start multi-robot scheduling).

[0088] Step B2: The main robot responds to the trigger of the confirm button in the operation dialog box and generates a multi-robot scheduling page.

[0089] If the user triggers the confirm button, it means that the user hopes to start the multi-robot scheduling process. The main robot responds to the trigger of the confirm button and generates a multi-robot scheduling page. The multi-robot scheduling page can include the attribute information of the main robot and each slave robot, as well as a synchronization button for the basic map. The synchronization button is used to synchronize the basic map to each slave robot.

[0090] Exemplarily, the robot attributes can include the robot number, the business attribute model, and the running status (online / offline).

[0091] Exemplarily, given that the synchronization of the base map is triggered by the user, in the case where multiple robots are bound to the same business line model, to prevent the user from synchronizing the base map to multiple robots of the same business line model, the master robot may only display the first bound robot of a business line model on the scheduling page. This can prevent the user from accidentally operating and increasing the synchronization of redundant data, thereby improving the scheduling efficiency.

[0092] Exemplarily, to enhance the user experience and make the multi-robot scheduling process more transparent, at the top of the preset interface, a complete node diagram of the multi-robot scheduling process will be drawn. This diagram clearly presents each key link from scheduling preparation to task execution. As the scheduling process progresses, the progress bar will highlight the current node in real time, enabling the user to intuitively and clearly know which stage the scheduling process has reached, so as to have a comprehensive and accurate understanding of the entire scheduling process.

[0093] Step B3: The master robot responds to the trigger of the synchronization button and synchronizes the base map to each slave robot.

[0094] After the synchronization button on the multi-robot scheduling page is triggered, the master robot can respond in a timely manner and synchronize the base map to each slave robot. Correspondingly, after the base map starts to be synchronized, the corresponding synchronization button on the multi-robot scheduling page can be displayed as the words corresponding to the synchronization status, such as "Synchronizing", "Synchronization Successful", and "Synchronization Failed", etc.

[0095] Exemplarily, to enhance the visualization effect of the synchronization process and improve the user's intuitive perception of the data reception situation, when each slave robot receives the base map synchronized by the master robot, the reception progress of the base map can be presented in a real-time dynamic manner in their respective corresponding preset interfaces until the slave robot successfully receives the complete base map.

[0096] Exemplarily, the reception progress percentage can be displayed to enable the user to accurately understand the proportion of the received data in the complete base map data.

[0097] Exemplarily, a dynamic progress bar can be used to more vividly display the progress of the reception progress. This can ensure that the user can clearly master the synchronization process of the base map throughout the process, enhancing the transparency and controllability of the operation.

[0098] In this embodiment, when the master robot detects that a slave robot has been bound, an operation pop-up box can be popped up on the preset interface to guide the user to confirm whether to perform multi-robot scheduling. After the user triggers the OK button, the master robot can generate a multi-robot scheduling page to facilitate the user to configure the multi-robot scheduling. The attribute information of the slave robot and the synchronization button of the base map can be displayed on the scheduling page. After all the attribute information of the slave robot meets the synchronization conditions of the base map (for example, all are online or at least one slave robot is online), the synchronization button can be triggered. When the synchronization button is triggered, the master robot can synchronize the base map to each slave robot. During the synchronization process, the master robot can display the synchronization information of each slave robot for the base map in the multi-robot scheduling page, and each slave robot can display the reception progress in the preset interface of its own machine to present the synchronization progress in an intuitive and vivid manner. This synchronization process improves the visualization degree of synchronization, allows the user to intuitively feel the data transmission process, greatly optimizes the multi-robot scheduling process, enhances the convenience, controllability and transparency of system operation, and comprehensively improves the overall user experience.

[0099] In some embodiments, during the process of multi-robot scheduling configuration, the master robot synchronizes the base map and the scheduling resource package to each slave robot in two times. To improve the synchronization efficiency, the master robot can synchronize any synchronization data (base map or scheduling resource package) through the following steps:

[0100] Step C1: The master robot uploads the synchronization data to the server.

[0101] Step C2: The master robot receives the download address returned by the server based on the synchronization data.

[0102] Step C3: The master robot pushes the download address to each of the slave robots so that each of the slave robots can download the synchronization data based on the download address.

[0103] When the master robot needs to synchronize data to each slave robot, the master robot first uploads the synchronization data to the server to complete the preliminary transmission of the data, laying a foundation for subsequent operations. Then, the master robot can receive the download address generated and returned by the server according to the uploaded synchronization data. Finally, the master robot pushes this download address to each slave robot, enabling each slave robot to obtain the key download path information based on this download address, and then successfully download the synchronization data, so that the synchronization data can flow orderly among the master robot - server - each slave robot. With the help of the server, the master robot can ensure the consistency and synchronization of multi-robot data while achieving data synchronization. Moreover, compared with the master robot sending synchronization data to each slave robot one by one, data synchronization based on the server is more efficient.

[0104] As can be seen from the foregoing description, after receiving the basic map, each slave robot can set its respective configuration data according to the basic map. The master robot can also obtain corresponding configuration data in response to user settings. Finally, the master robot can merge the configuration data (of the master robot and each slave robot) into the basic map to obtain a full-scale map.

[0105] In some embodiments, in order to obtain an accurate full-scale map, before merging each configuration data into the basic map, it further includes:

[0106] Step D1: According to the pre-stored correspondence list of business line models and configuration data items, verify whether each configuration data corresponding to each configuration data item of the master robot or the slave robot is received.

[0107] The master robot can pre-store the correspondence list of business line models and configuration data items. In this way, according to the business line model and the corresponding configuration data item, the specific configuration data can be determined, and then the configuration data of the master robot and the slave robot can be comprehensively verified. Among them, the configuration data items at least cover the point position data items that are extremely critical for the robot path planning and task execution. During verification, the robot can check one by one whether the actual configuration data corresponding to each configuration data item in the list is successfully received by the corresponding robot. Ensure the accuracy and reliability of multi-robot collaborative operations.

[0108] Exemplarily, Figure 7 shows the point position data items of some business line models, covering point position directions, general point positions, special point positions, and forced verification point positions. From Figure 7 it can be seen that the point positions of different business line models are different, as shown in detail in Figure 7 . Among them, the point position direction refers to the robot's orientation facing the charging pile when the robot arrives at the charging pile for charging. For example, when the robot reaches the point position in the forward direction, it is necessary to consider whether to rotate. If the charging port of some models is set at the opposite end of the forward direction end, a 180-degree rotation is required to align with the charging pile for charging; while for the models with the charging port set at the forward direction end, no rotation is required. In addition, the origin is the task standby point when the robot is idle, and at the same time, it is also the return point after the robot completes the task and has no other task arrangements. (VSLM, Visual-based Simultaneous Localization and Mapping) is a vision-based positioning and mapping technology.

[0109] Exemplarily, if there is a missing configuration data, the user can be prompted to make supplementary settings on the corresponding slave robot or master robot through a preset method. The preset method includes but is not limited to a text-based prompt pop-up box, or voice prompt, etc.

[0110] Exemplarily, the master robot can display a text prompt pop-up box within a preset interface and control the robot to be supplemented with settings to issue a voice prompt. At the visual level, the text prompt pop-up box is intuitive and eye-catching. When the operator views the preset interface, they can quickly capture the key information and clearly know which configuration data of the master / slave robot is missing or needs to be supplemented. Combining with hearing, the operator can quickly locate the robot to be supplemented with settings, improving the convenience of supplementing the configuration data.

[0111] In this embodiment, before merging the configuration data, the master robot first verifies the integrity of each piece of configuration data according to the correspondence list between the business line model and the configuration data item, especially the point data; when each piece of configuration data is complete, then merge the configuration data into the base map to obtain a full map with higher accuracy.

[0112] In some embodiments, the configuration data item may further include a regional data item; the regional data item corresponding to each business line model includes at least one or a combination of two or more of a general speed limit area, a turnstile area, an elevator area, and a congestion area.

[0113] When the slave robot is a cleaning business line robot, the regional data item further includes a cleaning area and a special area; the special area includes at least one or a combination of two or more of the following: a no-entry area, a drop area, a carpet area, a floor lamp area, and a floor sill area.

[0114] When the slave robot is a hotel business line robot, the regional data item further includes slope point speed limit data.

[0115] When the slave robot is a restaurant business line robot, the regional data item further includes one or a combination of two or more of a slope point speed limit area, a curtain area, and a voice configuration area.

[0116] Among them, the robots of each business line are developed for the corresponding business scenarios. For specific robots, reference can be made to the examples in the foregoing embodiments.

[0117] Exemplarily, for some special robots, they are also provided with function data corresponding to the business line. For example, for each robot of the catering business line model, its configuration data item further includes a function data item, and the corresponding function data may include table number partition books and food delivery routes, etc.

[0118] In some embodiments, in order to distinguish the configuration data of the master robot from the corresponding configuration data of each slave robot, the configuration data corresponding to the slave robot may be denoted as the first configuration data, and the configuration data corresponding to the master robot may be denoted as the second configuration data. It can be understood that the second configuration data is saved by the master robot in response to the corresponding settings or instructions, so the master robot can directly obtain and merge it. The first configuration data needs to be obtained from each slave robot. Thus, for the merging of the first configuration data, the following steps may be repeatedly executed until all the first configuration data has been successfully merged:

[0119] Step E1: The master robot sends a merge request instruction for the corresponding first configuration data to the corresponding slave robot in response to the triggering of the merge operation button.

[0120] The first configuration data of each slave robot can be merged in batches, that is, the first configuration data of multiple slave robots is merged at one time; it can also be merged individually, that is, the first configuration data of each slave robot is processed one by one; or a combination of batch merging and individual merging can be adopted. That is, the merge operation button corresponds to some or all of the slave robots. The merge operation button can correspond to some of the slave robots or all of the slave robots, as long as all the first configuration data can be finally merged into the base map. There is no strict limitation on the specific merging form.

[0121] Thus, after the master robot determines the corresponding slave robots according to the merge operation button, it can send a merge request instruction for the first configuration data to these slave robots to obtain the corresponding first configuration data, so as to prepare for integrating the received configuration data into the base map later.

[0122] Step E2: The master robot receives each request result returned by the corresponding slave robot based on the merge request instruction.

[0123] After the master robot sends a merge request instruction for the first configuration data to the corresponding slave robot, it will be in a state of waiting to receive the request result. After each slave robot receives the merge request instruction, it can feedback the request result to the master robot based on the setting state of the first configuration data of its own machine. The master robot receives each request result returned by these slave robots based on the merge request instruction.

[0124] Step E3: When the request result is the first configuration data of the corresponding slave robot, the master robot prompts the user in a preset manner that the first configuration data of the target slave machine has been successfully merged.

[0125] The request result is fed back by the corresponding slave robot to the master robot based on the set state of the local first configuration data. If the corresponding slave robot has set the corresponding first configuration data, the request result is the first configuration data. At this time, the master robot can perform data merging according to the request result and prompt the user that the first configuration data of the corresponding slave robot has been successfully merged through text or icons after the relevant information of the corresponding slave robot.

[0126] Exemplarily, if the first configuration data of the corresponding slave robot has not been set, the request result may include empty data or a prompt message for obtaining the corresponding configuration data. At this time, the master robot cannot perform data merging and can prompt the user to set the first configuration information of the corresponding slave robot by means of text or voice broadcast.

[0127] It can be understood that the above process can be executed once or multiple times according to the specific form of merging until the first configuration data of all slave robots have been successfully merged. On this basis, when the master robot successfully merges the second configuration data, a full-scale map can be obtained.

[0128] In some embodiments, after obtaining the full-scale map, in order to ensure the accuracy of the subsequent scheduling resource package, the master robot can also perform the following steps:

[0129] Step F1: The master robot determines whether there is a displacement in the preset key configuration area in the full-scale map based on the basic map.

[0130] When the target business scenario includes an elevator cross-floor sub-scenario, the key configuration area at least includes the elevator area; when the target business scenario includes a turnstile sub-scenario, the key configuration area also includes the turnstile area. Specifically, it can be determined in combination with the actual target business scenario.

[0131] Exemplarily, the full-scale map can be overlapped with the basic map to determine the coincidence degree of each key configuration area, and the coincidence degree is compared with a preset coincidence degree threshold. If the coincidence degree is greater than or equal to the threshold, the master robot determines that there is no displacement in the key configuration area and can directly generate a scheduling resource package based on the full-scale map. When the coincidence degree is less than the threshold, the master robot will determine that there is a displacement in the key configuration area. In the case of determining a displacement, the robot can start the corresponding calibration process.

[0132] Exemplarily, since each key area will be presented by pixel blocks of the same color, the contour pixel blocks of each key area in the two maps can be extracted, and based on the coordinate information corresponding to the two contour pixel blocks, it can be determined whether the corresponding key area has a displacement after merging.

[0133] Exemplarily, after determining the displacement of the key area, the main robot can send acquisition instructions to the surrounding lidar and vision sensors. The lidar generates point cloud data to present the contour changes of the area by emitting and receiving lasers; the vision sensor uses image recognition technology to identify the displacement of the markers. The main robot integrates the data, and through spatial calculation and image matching algorithms, calculates the displacement information, quickly calibrates the key area of the map, and ensures the accuracy of the robot operation path planning.

[0134] Correspondingly, a scheduling resource package is generated based on the full-scale map, including:

[0135] In the case where no displacement occurs in the key configuration areas, the main robot generates a scheduling resource package based on the full-scale map.

[0136] In this embodiment, the main robot can compare the key configuration areas for displacement based on the full-scale map and the base map. Once displacement is detected, the full-scale map is calibrated in real time using sensor data or the base map, which can ensure the accuracy of the positions of the key areas in the full-scale map. An accurate full-scale map is the cornerstone for generating the scheduling resource package. Only when the positions of the key areas are correct, the path planning, task allocation, and other information in the scheduling resource package are feasible. When each robot executes tasks based on the generated scheduling resource package, situations such as path conflicts and task failures caused by the displacement of the key areas can be avoided, thereby ensuring the efficient and stable collaborative operation of multiple robots in complex and changing business scenarios.

[0137] In some embodiments, the main robot can generate a scheduling resource package according to the full-scale map:

[0138] Step G1: The main robot generates a scheduling path based on the full-scale map to obtain a scheduling map.

[0139] The full-scale map contains all the configuration data required for the operation of robots of different business lines. Therefore, the scheduling path generated based on the full-scale data can be considered as a full-scale scheduling path covering robots of different business lines. If the target business scenario includes sub-target business scenarios across floors, each floor corresponds to a scheduling map.

[0140] Step G2: The main robot generates scheduling configuration items.

[0141] In addition to generating the full-scale scheduling map, the main robot can also generate scheduling configuration items, such as scheduling numbers and scheduling channels, etc. The scheduling number corresponding to each robot is unique to ensure the accuracy of scheduling.

[0142] Step G3: The main robot packages the scheduling map and the scheduling configuration items into a scheduling resource package.

[0143] Finally, the scheduling map and scheduling configuration items are packaged to obtain a scheduling resource package. Among them, the scheduling map presents the working environment for the robot, marks obstacles, paths, special points, etc., helping the robot plan a safe and efficient path. For example, in a logistics warehouse, the robot transports goods and locates charging piles accordingly. The scheduling configuration items set task allocation strategies, operation priorities, cooperation rules, etc. For example, in a hotel scenario, it determines the task division, priority handling matters and cooperation methods of the robot, so as to optimize the collaborative operation of multiple robots and improve the overall efficiency and resource utilization rate.

[0144] In some embodiments, in view of the significant differences in structure, power, etc. among different business line models, to comprehensively ensure the safety and stability of the charging link, after synchronizing each scheduling resource package, the robots of each business line model need to use targeted charging piles. Specifically, the robots of each business line model can separately respond to manual operations and accurately bind the local machine to the points marked by the adapted charging piles in the scheduling map. In this way, each robot can, according to the bound charging pile point information, when the battery is low and charging is needed, rely on its own navigation system to accurately drive along the planned safe path to the corresponding charging pile, thus effectively avoiding charging failures and even safety hazards caused by mismatches between the model and the charging pile or inaccurate positioning, and ensuring the efficient and reliable operation of the entire multi-robot system in the charging link.

[0145] In some embodiments, the scheduling resource package further includes a full-scale map. After the master robot synchronizes the scheduling resource package to each slave robot, it further includes:

[0146] Step H1: When the operating system in the master robot uses the full-scale map, it filters the full-scale map according to the business line model to which the master robot belongs and the scene characteristics of the target business scene to obtain a customized business map.

[0147] The full-scale map contains the map data required for the operation of the robots of each business line model. Therefore, when the operating system of the master robot uses the full-scale map, it can determine a customized business map suitable for the master robot to execute the corresponding business from the full-scale map according to the business line model corresponding to the local machine and the scene characteristics of the target business scene.

[0148] It can be understood that in the customized business map, in addition to including the basic map, it also includes the map data corresponding to the second configuration data of the master robot, especially unique point data and area data, etc. Operating based on the customized business map and the scheduling map can not only complete the tasks of the corresponding business line, but also avoid collisions with other robots operating simultaneously. The same applies to the use of the full-scale map by each slave robot, thereby ensuring the safety and reliability of the collaborative operation of the robots of each business line model.

[0149] Step H2: The master robot displays a customized business map through the business application software installed on the robot.

[0150] To further improve the visualization of scheduling, the master robot can display a customized business map through the business application software installed on the machine to enhance the transparency of robot scheduling.

[0151] In this embodiment, thanks to the full map containing the map data required for the operations of robots of each business line model, after obtaining the scheduling resource package, the master robot can filter the full map according to the business line model of the machine itself and the characteristics of the target scenario, and then obtain a customized business map, so that the machine can achieve collision-free operation with robots of other business line models in the target scenario based on the customized business map.

[0152] In some embodiments, the master robot and each slave robot are denoted as robots to be deployed; after obtaining the full map, for each robot to be deployed, the master robot can also perform the following steps:

[0153] Step I1: The master robot splices the model of the robot to be deployed and the target business scenario to obtain a business label.

[0154] For some models, they are mixed models. For example, the industrial business line delivery robot applied to the hotel scenario is installed with not only the S-series business application software but also the W-series business application software. For such a robot, the user can manually select its corresponding business scenario. Specifically, it can be set according to the target business scenario.

[0155] With the target business scenario and the business line model of the robot, the business label can be spliced to represent the application scenario of the robot and the business line in this scenario.

[0156] Step I2: The master robot splices the business label with the matching configuration data in the full map to update the full map.

[0157] To facilitate each robot to filter out the customized business map from the full map, the master robot can splice each business label (including that of the master robot and each slave robot) with the matching configuration data in the full map data, and then obtain a full map with search and filtering functions.

[0158] Thus, each robot can search and filter out the customized business map from the full map according to the business label corresponding to the machine itself.

[0159] In some embodiments, to ensure the reliability of scheduling, after generating the scheduling resource package based on the full map, the master robot and each slave robot can also conduct scheduling tests on the same floor:

[0160] Step J1: The master robot moves to the preset floor and sends a movement instruction to each slave robot; the movement instruction is used to control each slave robot to move to the preset floor.

[0161] To ensure the reliability of scheduling, after successfully generating the scheduling resource package based on the full map, the master robot can enter the test process. The first step is the floor movement scheduling test. In this session, the master robot moves to the preset floor first. After the master robot arrives at the designated floor, it can send a movement instruction to each slave robot. This movement instruction carries a key task, which is to precisely control the movement trajectories of each slave robot and guide them to move towards the same preset floor as the master robot. Through this operation, it is ensured that in the same floor environment, the master robot and each slave robot can gather together, laying a foundation for subsequent scheduling tests in a unified environment. Conducting tests in the same floor scenario can maximize the simulation of the real working environment and effectively test the accuracy of the robots of each business line model in actual floor operations and the reliability of scheduling based on the scheduling resource package.

[0162] Step J2: After the master robot and each slave robot have moved to the preset floor, the master robot conducts a scheduling test based on the preset scheduling test cases.

[0163] When the master robot successfully sends the movement instruction and confirms that itself and each slave robot have successfully moved to the preset floor, it enters the core stage of the scheduling test. The master robot can carry out the scheduling test work based on the preset scheduling test cases. The scheduling test cases can cover various possible task scenarios and instruction combinations. For example, on this floor, the master robot W3 is responsible for delivering takeaways from the hotel lobby to a specific room, the cleaning business line model C30 slave robot is responsible for cleaning the hotel lobby; the slave robot S100 is responsible for transporting the user's luggage from the hotel lobby to a specific room. The master robot sends various task instructions to each slave robot according to the test cases and obtains the execution status of each slave robot and its own tasks in real time, so as to comprehensively test the feasibility and reliability of the scheduling resource package generated based on the full map in the actual floor scheduling scenario, and ensure that the robots of each business line model can operate stably and efficiently before being officially put into operation.

[0164] It can be understood that when each robot executes tasks, it can search and filter the customized business map from the full map based on the corresponding business label, and operate based on the customized business map, the scheduling map, and the corresponding scheduling configuration items, which can ensure that the robots of each business line model can achieve collision-free collaborative operations on the preset floor.

[0165] Step J3: After the scheduling test is successful, the master robot releases the binding relationship with each slave robot.

[0166] After the scheduling test is completed, if the master robot determines that the test is successful, that is, each slave robot accurately executes the task according to the test case, and there are no abnormalities such as instruction errors and path conflicts in the process, the master robot can unbind the relationship with each slave robot, which means that the robots of each business line can be put into use in the target scenario.

[0167] In this embodiment, to ensure the reliability of scheduling, after generating a scheduling resource package based on the full map, the master robot first moves to the preset floor, and then sends movement instructions to each slave robot. After all robots reach the floor, the master robot conducts the test according to the preset scheduling test case. If the test is successful, the master robot is unbound from each slave robot so that each robot can be officially put into use.

[0168] Corresponding to the multi-robot scheduling method of the above embodiment, Figure 8 A structural block diagram of a multi-robot scheduling device 8 provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0169] Reference Figure 8 , the multi-robot scheduling device 8 is applied to the main robot, including:

[0170] A construction module 81 is used to construct a basic map of a target area corresponding to a target business scenario;

[0171] A synchronization module 82 is used to synchronize the basic map to at least one slave robot; each slave robot is bound to the master robot and corresponds to a different business line model with the master robot;

[0172] The merging module 83 is used to merge each configuration data into the basic map to obtain a full map; the configuration data is the business configuration data required for the master robot or any slave robot to operate under the corresponding business line, which is determined based on the basic map, the scene characteristics of the target area and the corresponding business line type;

[0173] A generation module 84 is used to generate a dispatch resource package based on the full map; the dispatch resource package at least includes a dispatch map;

[0174] The synchronization module 82 is also used to synchronize the scheduling resource package to each slave robot, so that the master robot and each slave robot can work collaboratively in the target area based on the scheduling resource package.

[0175] Optionally, the configuration data includes first configuration data corresponding to each slave robot; the merging module 83 is specifically used for:

[0176] The following steps are executed repeatedly until all the first configuration data are merged successfully:

[0177] Send a merge request instruction for the corresponding first configuration data to the corresponding slave robot in response to the trigger of the merge operation button; the merge operation button corresponds to some or all of the slave robots;

[0178] Receive each request result returned by the corresponding slave robot based on the merge request instruction;

[0179] In the case where the request result is the first configuration data of the corresponding slave robot, prompt the user in a preset manner that the merge of the first configuration data of the target slave is successful.

[0180] Optionally, the scheduling device 8 further includes:

[0181] A verification module, configured to verify whether the configuration data corresponding to each configuration data item of the master robot or the slave robot is received according to the pre-stored correspondence list between the business line model and the configuration data item before merging each configuration data into the base map; wherein, the configuration data item at least includes a point position data item.

[0182] And / or,

[0183] A filtering module, configured to, after synchronizing the scheduling resource package to each slave robot, when the operating system in the master robot uses the full map, filter the full map according to the business line model to which the master robot belongs and the scene characteristics of the target business scenario to obtain a customized business map, and display the customized business map through the business application software installed on the robot.

[0184] Optionally, denote the master robot and each slave robot as robots to be deployed; the scheduling device 8 further includes a configuration module, and the configuration module is configured to:

[0185] The configuration module is configured to, for each robot to be deployed after obtaining the full map:

[0186] Concatenate the model of the robot to be deployed and the target business scenario to obtain a business label;

[0187] Concatenate the business label with the configuration data matching in the full map to update the full map;

[0188] Correspondingly, the customized business map is filtered from the updated full map based on the business label.

[0189] Optionally, the scheduling device 8 further includes:

[0190] A determination module, configured to determine whether a preset key configuration area in the full map has a displacement based on the base map after obtaining the full map; when the target business scenario includes an elevator cross-floor sub-scenario, the key configuration area at least includes an elevator area;

[0191] The generation module 84 is specifically configured to generate a scheduling resource package based on the full-scale map when no displacement occurs in the critical configuration areas.

[0192] And / or, the synchronization module 82 is specifically configured to:

[0193] In the preset interface of the master robot, in response to the triggering of the binding button corresponding to each non-master business line model, bind a robot corresponding to the non-master business line model as a slave robot to the master robot; the non-master business line models are other business line models except the business line model corresponding to the master robot among all business lines.

[0194] Pop up an operation dialog box in the preset interface; the operation dialog box is used to determine whether to perform multi-robot scheduling.

[0195] In response to the triggering of the confirmation button in the operation dialog box, generate a multi-robot scheduling page; the multi-robot scheduling page includes the attribute information of the master robot and each slave robot and the synchronization button of the base map.

[0196] In response to the triggering of the synchronization button, synchronize the base map to each slave robot.

[0197] Optionally, the scheduling device 8 further includes a test module, and the test module is used to:

[0198] After generating the scheduling resource package based on the full-scale map, bind to the points corresponding to the charging piles matched in the full-scale map.

[0199] After determining that each slave robot has been bound to the corresponding charging pile, the master robot moves to the preset floor and sends a movement instruction to each slave robot; the movement instruction is used to control each slave robot to move to the preset floor.

[0200] After the master robot and each slave robot have moved to the preset floor, perform a scheduling test based on the preset scheduling test cases.

[0201] After the scheduling test is successful, the master robot releases the binding relationship with each slave robot.

[0202] Optionally, the configuration data item includes a region data item; the region data item corresponding to each business line model includes at least one or a combination of two or more of a normal speed limit region, a turnstile region, an elevator region, and a congestion region.

[0203] When the slave robot is a cleaning business line robot, the region data item further includes a cleaning region and a special region; the special region includes at least one or a combination of two or more of the following: a no-entry region, a drop region, a carpet region, a floor lamp region, and a floor sill region.

[0204] When the slave robot is a hotel business line robot, the region data item further includes slope point speed limit data.

[0205] When the robot is a robot for the restaurant business line, the regional data items further include one or a combination of two or more of a slope point speed limit area, a curtain area, and a voice configuration area.

[0206] Optionally, the generation module is specifically configured to:

[0207] Generate a scheduling path based on the full-scale map to obtain a scheduling map, where different floors correspond to different scheduling maps;

[0208] Generate scheduling configuration items; the scheduling configuration items at least include a scheduling number and a scheduling channel; the scheduling number corresponding to each robot is unique;

[0209] Package the scheduling map and the scheduling configuration items into a scheduling resource package.

[0210] It should be noted that for the information interaction and execution process between the above-mentioned devices / units, etc., since they are based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, please refer to the method embodiment section for details, and will not be elaborated here.

[0211] Figure 9 This is a schematic structural diagram of the physical layer of a robot provided by an embodiment of the present application. As Figure 9 shown, the robot 9 of this embodiment includes: at least one processor 90 ( Figure 9 only one processor is shown in Figure 6 ), a memory 91, and a computer program 92 stored in the memory 91 and executable on at least one processor 90. When the processor 90 executes the computer program 92, it implements the steps in any of the above-mentioned method embodiments for scheduling multiple robots, such as

[0212] the steps 610-650 shown.

[0212] The processor 90 may be a central processing unit (CPU), and the processor 90 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0213] The memory 91 may be an internal storage unit of the robot 9 in some embodiments, such as the hard disk or memory of the robot 9. In other embodiments, the memory 91 may also be an external storage device of the robot 9, such as a plug-in hard disk equipped on the robot 9, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0214] Furthermore, the memory 91 may also include both the internal storage unit of the robot 9 and external storage devices. The memory 91 is used to store operating devices, application programs, BootLoader, data, and other programs, such as the program code of computer programs, etc. The memory 91 may also be used to temporarily store data that has been output or will be output.

[0215] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the above-mentioned device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above-mentioned system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0216] The embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

[0217] The embodiments of the present application provide a computer program product. When the computer program product runs on the robot, the robot can execute the steps in the foregoing method embodiments.

[0218] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of this application, a computer program can be used to instruct the relevant hardware to complete. The above computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the above computer program includes computer program code, and the above computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The above computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / robot, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disc, etc.

[0219] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0220] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed in this article can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0221] In the embodiments provided in this application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are only illustrative. For example, the above division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0222] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0223] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A scheduling method for multiple robots, characterized in that, Applied to the master robot, which is determined from multiple robots of different business line models that will perform mixed operations in the target business scenario. The scheduling method includes: Construct a basic map of the target area corresponding to the target business scenario; Synchronize the basic map to at least one slave robot; each slave robot is bound to the master robot and corresponds to a different business line model with the master robot; Merge each configuration data into the basic map to obtain a full-scale map; the configuration data is the business configuration data required for the master robot or any slave robot to operate under the corresponding business line, and is determined based on the basic map, the scene characteristics of the target area, and the corresponding business line type; Generate a scheduling resource package based on the full-scale map; the scheduling resource package at least includes a scheduling map; Synchronize the scheduling resource package to each slave robot for the master robot and each slave robot to cooperate in the target area based on the scheduling resource package.

2. The scheduling method according to claim 1, wherein The configuration data includes each first configuration data corresponding to each slave robot; the step of merging each configuration data into the basic map includes: Loop and execute the following steps until all the first configuration data have been successfully merged: Send a merge request instruction for the corresponding first configuration data to the corresponding slave robot in response to the trigger of the merge operation button; the merge operation button corresponds to some or all of the slave robots; Receive each request result returned by the corresponding slave robot based on the merge request instruction; When the request result is the first configuration data of the corresponding slave robot, prompt the user in a preset manner that the first configuration data of the target slave machine has been successfully merged.

3. The scheduling method according to claim 1, wherein Before merging each configuration data into the basic map, it further includes: According to the pre-stored correspondence list of business line models and configuration data items, verify whether each configuration data corresponding to each configuration data item of the master robot or the slave robot has been received; where the configuration data item at least includes a point position data item; And / or, after synchronizing the scheduling resource package to each slave robot, it further includes: When the operating system in the master robot uses the full-scale map, filter the full-scale map according to the business line model to which the master robot belongs and the scene characteristics of the target business scenario to obtain a customized business map, and display the customized business map through the business application software installed on the robot.

4. The scheduling method according to claim 3, wherein Record the master robot and each slave robot as robots to be deployed; after obtaining the full-scale map, it further includes: For each robot to be deployed: Concatenate the model of the robot to be deployed and the target business scenario to obtain a business label; Concatenate the business label with the matching configuration data in the full-scale map to update the full-scale map; Correspondingly, the customized business map is filtered from the updated full-scale map based on the business label.

5. The scheduling method according to claim 1, wherein After obtaining the full-scale map, it further includes: Determine whether there is a displacement in the preset key configuration area in the full map based on the base map; when the target business scenario includes an elevator cross-floor sub-scenario, the key configuration area at least includes the elevator area; Correspondingly, generating a scheduling resource package based on the full map includes: Generating a scheduling resource package based on the full map when there is no displacement in any of the key configuration areas; And / or, synchronizing the base map to at least one slave robot includes: In the preset interface of the master robot, in response to the triggering of the binding button corresponding to each non-master business line model, bind a robot corresponding to the non-master business line model as a slave robot to the master robot; the non-master business line model is other business line models except the business line model corresponding to the master robot among each business line; Pop up an operation dialog box in the preset interface; the operation dialog box is used to determine whether to perform multi-robot scheduling; In response to the triggering of the OK button in the operation dialog box, generate a multi-robot scheduling page; the multi-robot scheduling page includes the attribute information of the master robot and each slave robot and the synchronization button of the base map; Synchronize the base map to each slave robot in response to the triggering of the synchronization button.

6. The scheduling method according to any one of claims 1-5, characterized in that, After generating the scheduling resource package based on the full map, it further includes: Bind to the points corresponding to the charging piles matched in the full map; After determining that each slave robot has been bound to the corresponding charging pile, the master robot moves to a preset floor and sends a movement instruction to each slave robot; the movement instruction is used to control each slave robot to move to the preset floor; After the master robot and each slave robot have moved to the preset floor, perform a scheduling test based on a preset scheduling test case; After the scheduling test is successful, the master robot releases the binding relationship with each slave robot.

7. The scheduling method according to any one of claims 3-5, characterized in that, The configuration data item includes an area data item; the area data item corresponding to each business line model at least includes one or a combination of two or more of a general speed limit area, a turnstile area, an elevator area, and a congestion area; When the slave robot is a cleaning business line robot, the area data item further includes a cleaning area and a special area; the special area at least includes one or a combination of two or more of the following: a no-entry area, a fall area, a carpet area, a floor lamp area, and a floor sill area; When the slave robot is a hotel business line robot, the area data item further includes slope point speed limit data; When the slave robot is a restaurant business line robot, the area data item further includes one or a combination of two or more of a slope point speed limit area, a curtain area, and a voice configuration area.

8. The scheduling method according to any one of claims 1-5, characterized in that Generating a scheduling resource package based on the full map includes: Generate a scheduling path according to the full map to obtain the scheduling map, and different floors correspond to different scheduling maps; Generate scheduling configuration items; the scheduling configuration items at least include a scheduling number and a scheduling channel; the scheduling number corresponding to each robot is unique; Package the scheduling map and the scheduling configuration items into the scheduling resource package.

9. A robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the multi-robot scheduling method according to any one of claims 1 to 8.

10. A computer program product, the computer program product storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the multi-robot scheduling method according to any one of claims 1 to 8.

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