Robot scheduling method and device and storage medium

Abstract

The invention provides a robot scheduling method and device and a storage medium, and the method comprises the steps: determining whether a temporary forbidden area exists or not according to the related position information when a first robot receives the related position information sent by a second robot which carries out the butt joint matching; if the temporary forbidden area exists, updating the current path of the first robot according to the temporary forbidden area to obtain a target path; and controlling the first robot to move according to the target path. Therefore, the first robot in the application analyzes the related position information sent by the second robot executing the docking matching operation to determine whether the temporary forbidden area of the first robot exists or not, so that the path is updated in time after the temporary forbidden area is determined; and the collision / jamming condition in the running process of the multiple robots can be effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot scheduling method, device, and storage medium. Background Art

[0002] With the widespread adoption of intelligent robots in scenarios such as hotels, hospitals, office buildings, factories, restaurants, and lawns, multiple robots of one or more types may be working together in the same setting. For example, in a factory, cleaning robots may be used for cleaning, while delivery robots may be used for material distribution. Furthermore, as these multiple autonomous robots perform their tasks, they may also encounter docking and matching tasks, such as matching robots with workstations, containers, and shelves.

[0003] Taking charging matching as an example, the existing matching process is generally as follows: after the robot determines that it wants to charge, it first moves to a preset area / point in front of the charging pile, and uses the sensor in front of the robot to identify the geometric features (such as concave blocks) or label information such as QR codes of the charging pile / workstation, thereby determining the relative position relationship between the robot and the charging pile, and the relative position relationship between itself and the charging pile, and adjusting the position to be directly in front of the charging pile. The robot then turns 180 degrees and moves in a straight line to the charging pile for docking and charging (the charging contact area of ​​most robots is set on the back). However, the preset matching area / point is often a certain distance away from the charging pile. This distance can pass through a robot. If there are other robots in the scene, and the robot's navigation path passes between the charging pile and the robot to be charged. In this case, if the robot continues to move, it is prone to collision and jamming. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a robot scheduling method, device and storage medium, in which the first robot analyzes the relevant position information sent by the second robot performing the docking and matching operation to determine whether there is a temporary restricted area for itself, and thus promptly updates the path after determining the temporary restricted area, which can effectively avoid the occurrence of collisions / stuck situations during the operation of multiple robots.

[0005] An embodiment of the present application provides a robot scheduling method, the scheduling method comprising:

[0006] When the first robot receives relevant position information sent by the second robot performing docking matching, the first robot determines whether there is a temporary prohibited area based on the relevant position information;

[0007] If there is a temporary prohibited area, updating the current path of the first robot according to the temporary prohibited area to obtain a target path;

[0008] Control the first robot to move along the target path.

[0009] Optionally, the relevant position information includes at least one of the following: a first matching point that the second robot needs to reach to perform docking matching, the current position of the second robot, and a second matching point corresponding to the first matching point, where the first matching point includes a posture adjustment point;

[0010] When the second robot is a delivery robot that performs docking and matching with a container or a shelf, the first matching point includes a position point around the container or the shelf where the second robot adjusts its posture, and the second matching point includes a position point of the container or the shelf;

[0011] When the second robot is a robot that performs docking matching with a workstation, the first matching point includes a position point of the second robot in front of the workstation where posture adjustment is performed, and the second matching point includes a position point of the workstation.

[0012] Optionally, when both the first robot and the second robot are robots that perform docking and matching with a charging pile to achieve charging, when the first robot receives relevant position information sent by the second robot that performs docking and matching, determining whether a temporary restricted area exists based on the relevant position information includes:

[0013] Performing an initial region construction based on the relevant location information to obtain an initial region of interest;

[0014] Identifying whether the current path of the first robot passes through the initial area of ​​interest;

[0015] If passing through the initial focus area, determining the scheduling priority of the first robot and the second robot according to the robot model;

[0016] If the scheduling priority of the first robot is higher than the scheduling priority of the second robot, control the second robot to wait at the location;

[0017] If the scheduling priority of the first robot is not higher than the scheduling priority of the second robot, a rationality check is performed on the initial focus area. If the check passes, the initial focus area is determined as a temporary prohibited area for the first robot.

[0018] Optionally, the temporary restricted area is obtained by:

[0019] Performing region division according to the first matching point and the second matching point to obtain a first region including the first matching point and the second matching point;

[0020] Connecting the current position of the second robot and the first matching point with the second matching point respectively to obtain a prohibited path;

[0021] Expanding the prohibited path according to the outline size of the second robot to obtain a second area;

[0022] Determine a union area of ​​the first area and the second area as an initial area of ​​interest, and perform a rationality check on the initial area of ​​interest;

[0023] If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot.

[0024] Optionally, the temporary restricted area is obtained by:

[0025] Performing region division according to the first matching point and the second matching point to obtain an initial focus region including the first matching point and the second matching point, and performing a rationality check on the initial focus region;

[0026] If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot; correspondingly, the temporary prohibited area includes a pre-set fixed docking matching path.

[0027] Optionally, the initial region of interest is checked for rationality by the following steps:

[0028] determining, based on a current position of the first robot, whether the first robot is located within the initial area of ​​interest;

[0029] If it is determined to be within the initial area of ​​concern, it is determined that the rationality requirements are not met and the test fails;

[0030] If it is determined that the robot is not located within the initial focus area, determining an emergency stop area for the first robot according to the current position of the first robot and the current speed of the first robot;

[0031] If the emergency stop area and the initial focus area intersect, it is determined that the rationality requirement is not met and the test fails;

[0032] If the emergency stop area and the initial focus area do not have an intersecting area, it is determined that the rationality requirement is met and the test passes.

[0033] Optionally, the expanding the prohibited path according to the outline size of the second robot includes:

[0034] determining a circumscribed circle radius of the second robot according to an outline size of the second robot;

[0035] Each prohibited point in the prohibited path is determined as a circle center, and the radius of the circumscribed circle is determined as an expansion radius, and an expansion process is performed.

[0036] Optionally, updating the current driving path of the first robot according to the temporary restricted area to obtain a target driving path includes:

[0037] updating the current environment map of the first robot according to the temporary restricted area to obtain a target environment map;

[0038] Constructing a target path for the first robot to travel from a current position to a target position based on the target environment map;

[0039] When the scheduling of the first robot and the second robot is completed, the temporary restricted area is deleted from the target environment map; wherein, the triggering reason for the end of the scheduling includes at least one of the following: the second robot has been successfully docked and matched; the current interval between the first robot and the second robot is not less than a first preset distance; the first robot has traveled through all path points on the target path that are near the temporary restricted area.

[0040] The present application also provides a robot scheduling device, the scheduling device comprising:

[0041] A determination module is configured to determine whether a temporary restricted area exists based on the relevant position information received by the first robot from the second robot performing docking matching;

[0042] An updating module, configured to update the current path of the first robot according to a temporary no-travel zone to obtain a target path if the temporary no-travel zone exists;

[0043] A control module is used to control the first robot to move along the target path.

[0044] Optionally, the relevant position information includes at least one of the following: a first matching point that the second robot needs to reach to perform docking matching, the current position of the second robot, and a second matching point corresponding to the first matching point, where the first matching point includes a posture adjustment point;

[0045] When the second robot is a delivery robot that performs docking and matching with a container or a shelf, the first matching point includes a position point around the container or the shelf where the second robot adjusts its posture, and the second matching point includes a position point of the container or the shelf;

[0046] When the second robot is a robot that performs docking matching with a workstation, the first matching point includes a position point of the second robot in front of the workstation where posture adjustment is performed, and the second matching point includes a position point of the workstation.

[0047] Optionally, when both the first robot and the second robot are robots that perform docking and matching with a charging pile to achieve charging, when the first robot receives relevant position information sent by the second robot that performs docking and matching, and determines whether there is a temporary restricted area based on the relevant position information, the determination module is configured to:

[0048] Performing an initial region construction based on the relevant location information to obtain an initial region of interest;

[0049] Identifying whether the current path of the first robot passes through the initial area of ​​interest;

[0050] If passing through the initial focus area, determining the scheduling priority of the first robot and the second robot according to the robot model;

[0051] If the scheduling priority of the first robot is higher than the scheduling priority of the second robot, control the second robot to wait at the location;

[0052] If the scheduling priority of the first robot is not higher than the scheduling priority of the second robot, a rationality check is performed on the initial focus area. If the check passes, the initial focus area is determined as a temporary prohibited area for the first robot.

[0053] Optionally, the determining module is further configured to obtain a temporary no-entry area by the following method:

[0054] Performing region division according to the first matching point and the second matching point to obtain a first region including the first matching point and the second matching point;

[0055] Connecting the current position of the second robot and the first matching point with the second matching point respectively to obtain a prohibited path;

[0056] Expanding the prohibited path according to the outline size of the second robot to obtain a second area;

[0057] Determine a union area of ​​the first area and the second area as an initial area of ​​interest, and perform a rationality check on the initial area of ​​interest;

[0058] If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot.

[0059] Optionally, the determining module is further configured to obtain a temporary no-entry area by the following method:

[0060] Performing region division according to the first matching point and the second matching point to obtain an initial focus region including the first matching point and the second matching point, and performing a rationality check on the initial focus region;

[0061] If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot; correspondingly, the temporary prohibited area includes a pre-set fixed docking matching path.

[0062] Optionally, the determining module is further configured to perform a rationality check on the initial region of interest through the following steps:

[0063] determining, based on a current position of the first robot, whether the first robot is located within the initial area of ​​interest;

[0064] If it is determined to be within the initial area of ​​concern, it is determined that the rationality requirements are not met and the test fails;

[0065] If it is determined that the robot is not located within the initial focus area, determining an emergency stop area for the first robot according to the current position of the first robot and the current speed of the first robot;

[0066] If the emergency stop area and the initial focus area intersect, it is determined that the rationality requirement is not met and the test fails;

[0067] If the emergency stop area and the initial focus area do not have an intersecting area, it is determined that the rationality requirement is met and the test passes.

[0068] Optionally, when the determining module is used to expand the prohibited path according to the outline size of the second robot, the determining module is used to:

[0069] determining a circumscribed circle radius of the second robot according to an outline size of the second robot;

[0070] Each prohibited point in the prohibited path is determined as a circle center, and the radius of the circumscribed circle is determined as an expansion radius, and an expansion process is performed.

[0071] Optionally, when the updating module is used to update the current driving path of the first robot according to the temporary restricted area to obtain a target driving path, the updating module is used to:

[0072] updating the current environment map of the first robot according to the temporary restricted area to obtain a target environment map;

[0073] Constructing a target path for the first robot to travel from a current position to a target position based on the target environment map;

[0074] When the scheduling of the first robot and the second robot is completed, the temporary restricted area is deleted from the target environment map; wherein, the triggering reason for the end of the scheduling includes at least one of the following: the second robot has been successfully docked and matched; the current interval between the first robot and the second robot is not less than a first preset distance; the first robot has traveled through all path points on the target path that are near the temporary restricted area.

[0075] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the scheduling method described above are performed.

[0076] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the scheduling method described above are executed.

[0077] An embodiment of the present application provides a robot scheduling method, device, and storage medium. The scheduling method includes: when a first robot receives relevant position information sent by a second robot that performs docking matching, determining whether there is a temporary no-entry area based on the relevant position information; if there is a temporary no-entry area, updating the current path of the first robot based on the temporary no-entry area to obtain a target path; and controlling the first robot to move according to the target path.

[0078] In this way, the present application establishes a communication connection between robots. When the first robot receives the relevant position information sent by the second robot performing the docking and matching operation, it can analyze the relevant position information sent by the second robot in combination with its own motion information to determine whether there is a temporary prohibited area that the first robot cannot pass through; then, the first robot's currently determined motion path is updated according to the determined temporary prohibited area to obtain a target path that can effectively avoid collisions / stuck situations; finally, the first robot determines the working parameters of its own motion components according to the generated target path, and works according to the determined working parameters to make the first robot move according to the target path. Therefore, the machine solution of the present application can effectively avoid the occurrence of collisions / stuck situations during the operation of multiple robots. For example, this solution can reduce the occurrence of robot collisions / stuck situations caused by the first robot passing through the second robot (such as a robot that needs to match with a charging pile for charging) and the charging pile, and thus effectively ensure the completion of the robot's task.

[0079] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0081] Figure 1 A flowchart of a robot scheduling method provided in an embodiment of the present application;

[0082] Figure 2 Schematic diagram of an initial area of ​​interest provided for this application;

[0083] Figure 3 Schematic diagram 2 of an initial area of ​​interest provided for this application;

[0084] Figure 4 A schematic diagram of the scheduling principle of a robot during the charging process provided by this application;

[0085] Figure 5 A schematic diagram of the structure of a robot scheduling device provided in an embodiment of the present application;

[0086] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0087] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0088] First, we will introduce the applicable application scenarios of this application. This application can be applied to the field of robotics, for example, in situations where multiple robots are located in the same scene. Specifically, this application can be applied to a scene that includes at least two robots, one of which is a robot that performs matching operations. The multiple robots in the same scene can be of the same or different machine types. These machine types may include cleaning robots, delivery robots, etc.

[0089] Research has found that with the widespread adoption of intelligent robots in scenarios such as hotels, hospitals, office buildings, factories, restaurants, and lawns, multiple robots of one or more types may be working together in the same setting. For example, in a factory, cleaning robots may be used for cleaning, while delivery robots may be used for material distribution. Furthermore, as these multiple autonomous robots perform their tasks, they may also face docking and matching tasks, such as matching robots with workstations, containers, and shelves.

[0090] Taking charging matching as an example, the existing matching process is generally as follows: after the robot determines that it wants to charge, it first moves to a preset area / point in front of the charging pile, and uses the sensor in front of the robot to identify the geometric features (such as concave blocks) or label information such as QR codes of the charging pile / workstation, thereby determining the relative position relationship between the robot and the charging pile, and the relative position relationship between itself and the charging pile, and adjusting the position to be directly in front of the charging pile. The robot then turns 180 degrees and moves in a straight line to the charging pile for docking and charging (the charging contact area of ​​most robots is set on the back). However, the preset matching area / point is often a certain distance away from the charging pile. This distance can pass through a robot. If there are other robots in the scene, and the robot's navigation path passes between the charging pile and the robot to be charged. In this case, if the robot continues to move, it is prone to collision and jamming.

[0091] Based on this, the embodiments of the present application provide a robot scheduling method, device and storage medium. The first robot analyzes the relevant position information sent by the second robot performing the docking and matching operation to determine whether there is a temporary restricted area for itself, and thus updates the path in time after determining the temporary restricted area, which can effectively avoid the occurrence of collisions / stuck situations during the operation of multiple robots.

[0092] See also Figure 1 , Figure 1 This is a flow chart of a robot scheduling method provided in an embodiment of the present application. Figure 1 As shown in , the scheduling method provided by the embodiment of the present application includes:

[0093] S101: When a first robot receives relevant position information sent by a second robot performing docking matching, the first robot determines whether there is a temporary restricted area based on the relevant position information.

[0094] Here, the first robot and the second robot are capable of information communication. Specifically, the first robot and the second robot can communicate over short distances. The condition for the first robot to receive the relevant position information sent by the second robot performing docking matching can be that the first robot and the second robot trigger scheduling (for example, due to proximity or conflicting paths), and thus transmit the relevant position information to each other to facilitate the other's movement decision, such as selecting a point of avoidance.

[0095] The second robot is the robot that performs docking and matching with the target device. For example, the target device can be a container, shelf, or workstation. A container can be an unmanned vending machine in a hotel, a shelf can be a movable storage device for goods in a factory, and a workstation can be a charging station or multi-functional workstation used by robots for delivery, cleaning, mowing, and guiding. Docking and matching can include charging docking, shelf docking, container docking, drainage docking, and material exchange docking.

[0096] The relevant position information is the position information required to determine whether the operations of multiple robots conflict with each other.

[0097] The temporary restricted zone is a temporary restricted zone for the first robot; it should be noted that this restricted zone is temporary. Preferably, when scheduling is triggered, only one robot is in the docking and matching process. When scheduling is lifted, for example, when the second robot successfully matches with the target device, the temporary restricted zone is also lifted for the first robot. This facilitates the first robot's subsequent passage through this area. Furthermore, this temporary restricted zone is specific to a specific robot and does not apply to robots currently docking and matching.

[0098] S102: If a temporary no-travel zone exists, update the current path of the first robot according to the temporary no-travel zone to obtain a target path.

[0099] Here, updating the first robot's current path based on the temporarily prohibited area can include identifying whether the first robot's current path passes through the temporarily prohibited area, and if so, replanning a path for the first robot that allows normal travel and does not pass through the temporarily prohibited area, i.e., the target path. For example, if the first and second robots trigger scheduling, and the first robot's motion decision indicates that it needs to select a point for avoidance, the point selection must avoid points within the temporarily prohibited area, and the process of reaching the avoidance point must avoid passing through the temporarily prohibited area.

[0100] S103: Control the first robot to move along the target path.

[0101] Here, controlling the first robot to move along the target path may specifically be controlling corresponding moving components in the first robot to operate so that the first robot moves along the target path.

[0102] The present application implements a robot scheduling method provided. First, a communication connection is established between multiple robots. Then, when the first robot receives relevant position information sent by the second robot that performs docking matching, the relevant position is analyzed to determine whether there is an area (temporary prohibited area) that the first robot (the first robot) cannot pass through temporarily. If it is determined that there is an area, the current motion path (current path) of the first robot is updated according to the determined temporary prohibited area to obtain a target path that does not pass through the temporary prohibited area. Finally, the corresponding moving parts in the first robot are controlled to work so that the first robot moves according to the target path.

[0103] In this way, the present application establishes a communication connection between robots. When the first robot receives the relevant position information sent by the second robot that performs the docking and matching operation, it can analyze the relevant position information sent by the second robot in combination with its own motion information to determine whether there is a temporary restricted area that the first robot cannot pass through; then, the motion path currently determined by the first robot is updated according to the determined temporary restricted area, and a target path that can effectively avoid collisions / stuck situations is obtained; finally, the first robot determines the working parameters of its own moving parts according to the generated target path, and works according to the determined working parameters, so that the first robot moves according to the target path. Therefore, the machine solution of the present application can effectively reduce the occurrence of collisions / stuck situations during the operation of multiple robots. For example, this solution can reduce the occurrence of robot collisions / stuck situations caused by the first robot passing through the second robot (a robot that needs to be matched with a charging pile for charging) and the charging pile. Especially for robots that do not have sensors to detect obstacles in the docking path during the docking and matching process (for example, the obstacle detection sensor is set at the front of the robot, the charging docking part is set at the rear of the robot, and the robot completes the docking and matching by retreating), it can effectively improve safety and thus effectively ensure the completion of the robot's tasks.

[0104] The following describes the exemplary steps of the embodiment of the present application:

[0105] Regarding step S101, this step may include: establishing a communication connection between the first robot and the second robot; upon receiving relevant position information sent by at least one second robot, the first robot analyzes each piece of relevant position information to identify whether a temporary prohibited zone for the first robot exists based on the relevant position information; and if so, determining at least one temporary prohibited zone. The number of the temporary prohibited zones is less than or equal to the number of relevant position information received.

[0106] Here, the models of the first robot and the second robot are not limited, and they can be robots of any model; the first robot can be a robot that performs other tasks, or a robot that performs docking and matching.

[0107] The relevant position information can be considered to be about robots that may affect the running path of the first robot, and the relevant position information is sent by the second robot performing the docking matching operation. Therefore, in one embodiment provided in the present application, the relevant position information includes at least one of the following: a first matching point that the second robot needs to reach to perform the docking matching, the current position of the second robot, and a second matching point corresponding to the first matching point, where the first matching point includes a posture adjustment point.

[0108] The first matching point, the second matching point, and the current location of the second robot can be the location information required to construct a temporary no-entry zone. Exemplarily, the second robot also sends its ID to the first robot, allowing the first robot to associate and store the second robot ID with relevant location information for navigation decision-making. This can improve the accuracy and processing efficiency when triggering scheduling for multiple robots, especially three or more robots. Exemplarily, the second robot can be one or multiple robots.

[0109] In addition, the information sent carries its own ID, which can effectively avoid the occurrence of self-sending and self-receiving situations and improve data processing efficiency.

[0110] For example, when the second robot is a delivery robot that performs docking and matching with a container or a shelf, the first matching points include the position points of the second robot around the container or the shelf where the posture is adjusted, and the second matching points include the position points of the container or the shelf; when the second robot is a robot that performs docking and matching with a workstation, the first matching points include the position points of the second robot in front of the workstation where the posture is adjusted, and the second matching points include the position points of the workstation.

[0111] Here, the workstation may include a charging station for single charging, a water station for single water supply and drainage, or a multifunctional workstation with multiple functions, such as charging, cleaning, feeding and discharging, etc.

[0112] Among them, setting the first matching point to include a posture adjustment point helps the robot more accurately determine the relative position relationship based on real-time sensor data, adjust to a better docking posture near the device to be docked, and improve the success rate of subsequent matching. For example, when the docking matching task is a charging task, the charging port on the robot must successfully dock with the charging contacts on the charging pile before charging. However, the charging port of most robots is located on the back. Therefore, when the robot moves toward the charging pile for charging, it needs to move with its back facing the charging pile. Therefore, it is necessary to set a first matching point. The second robot first moves to the first matching point in front of the charging pile. Using the sensor in front of the robot, it recognizes the geometric features (such as concave blocks) or label information such as QR codes of the charging pile / workstation to determine the relative position relationship between the robot and the charging pile, and performs posture adjustment to adjust to the front of the charging pile. The robot then rotates 180 degrees and moves linearly to the charging pile for docking and charging. In addition, when the robot docks and matches with a container or shelf, similar to charging, it also needs to be in a certain posture for successful matching. Therefore, the set first matching point includes a position adjustment point (or can be directly a position adjustment point).

[0113] By providing the specific location information required to be included in the relevant location information, the second robot can clearly identify the specific location information to be sent, avoiding the transmission of useless information and effectively reducing information transmission pressure. Furthermore, due to the validity of the relevant location information sent by the second robot, the first robot can reduce the amount of data processing when determining temporary restricted areas, thereby effectively improving the efficiency and accuracy of temporary restricted area determination.

[0114] Continuing with step S101, in order to reduce the amount of data processing and ensure the effectiveness of data processing, the second robot can set the sending timing when sending relevant position information to the first robot. For example, in one embodiment provided in the present application, the method of sending the relevant position information includes: determining whether the second robot has reached the first matching point based on the current position of the second robot; if so, the second robot sends the position-related information to the surrounding robots according to a preset sending rule; the preset sending rule includes the number of occurrences of the position-related information and the sending time interval. When the second robot obtains a docking matching task (for example, a recharge task is automatically generated when the battery is too low), it can move from the current position to the first matching point, adjust its posture, and then move from the first matching point to the second matching point, and perform a matching action at the second matching point. In the process of the second robot heading to the first matching point, it is moving forward facing, and can detect obstacles through sensors and cooperate with the normal scheduling of the first robot, so that the position-related information can be sent after reaching the first matching point.

[0115] Here, determining whether the second robot has reached the first matching point based on the second robot's current position includes: the second robot identifying its current position in real time and determining whether its current position has reached the first matching point. When the second robot reaches the first matching point, the second robot begins broadcasting its position information to the surrounding area.

[0116] The surrounding robot is a robot that establishes a communication connection with the second robot and can receive relevant position information sent by the second robot, such as the first robot.

[0117] Furthermore, when the second robot broadcasts its location information to the surrounding area, the broadcast period can be set to start after the second robot reaches the first matching point and end after the second robot completes docking and matching with the corresponding target device. The broadcast period can be continuous or periodic, with no specific restrictions here.

[0118] Continuing with step S101, when the first robot determines whether there is a temporary restricted area based on the relevant position information sent by the second robot, in order to adapt to the application of various scenarios, the embodiment of the present application provides two different determination methods.

[0119] Determination method 1:

[0120] The temporary restricted area is obtained by the following method:

[0121] S10111. Perform region division according to the first matching point and the second matching point to obtain an initial focus region including the first matching point and the second matching point, and perform rationality detection on the initial focus region.

[0122] S10112: If the detection passes, determine the initial focus area as a temporary prohibited area for the first robot; correspondingly, the temporary prohibited area includes a pre-set fixed docking matching path.

[0123] Regarding step S10111, in this step, the position information of the first and second matching points in the relevant position information is identified. Then, the corresponding area determination method is used to perform area division to obtain an initial area of ​​interest (the first and second matching points are located within the initial area of ​​interest). The determined initial area of ​​interest is then tested for rationality. If the test passes, step S10112 is executed. If the test fails, it is determined that there is no temporary restricted area corresponding to the first robot.

[0124] Here, the corresponding region determination method may include: determining the initial focus region according to annotation information during map creation; and obtaining a preset region construction rule to determine the initial focus region.

[0125] Specifically, if the initial focus area is determined based on the annotation information during map construction, certain areas (including the first matching point and the second matching point) may be annotated in advance when constructing the environmental map of the robot's activity area. When a corresponding trigger condition is met (for example, when identifying a temporary no-entry area), the area is determined as the initial focus area.

[0126] If the region construction rule is adopted, the size information of the region construction may be set in the region construction rule.

[0127] For examples, see Figure 2 , Figure 2 This is an illustration of an initial area of ​​interest provided by this application. Figure 2 As shown, the region includes a first matching point and a second matching point.

[0128] Regarding step S10112, in this step, the fixed docking matching path is the path that the second robot travels from its current position to a location where it can complete matching with the corresponding target device. The fixed docking matching path is set within the temporary restricted area. For example, the fixed docking matching path can be set as a straight path. For example, the centerline of the temporary restricted area can be determined as the fixed docking matching path. Alternatively, the initial area of ​​interest can be expanded based on the maximum size of the robot.

[0129] In this way, the temporary restricted area is determined directly based on the first matching point and the second matching point. That is, the temporary restricted area can be determined in advance when the robot is building a map, and the robot can directly obtain and use it when needed, effectively improving the efficiency and speed of determining the temporary restricted area during robot scheduling.

[0130] Determination method 2:

[0131] The temporary restricted area is obtained by the following method:

[0132] S10121. Perform area division according to a preset restricted area division rule based on the first matching point and the second matching point to obtain a first area including the first matching point and the second matching point.

[0133] S10122: Connect the current position of the second robot and the first matching point with the second matching point respectively to obtain a prohibited path.

[0134] S10123. Expand the prohibited path according to the outline size of the second robot to obtain a second area.

[0135] S10124: Determine a union of the first area and the second area as an initial area of ​​interest, and perform a rationality check on the initial area of ​​interest;

[0136] S10125: If the detection passes, determine the initial focus area as a temporary prohibited area for the first robot.

[0137] Regarding step S10121, the description of S10121 can refer to the description of S10111, and can achieve the same technical effect, so it will not be repeated here.

[0138] With respect to step S10123, in one embodiment provided in the present application, expanding the prohibited path according to the outline size of the second robot includes:

[0139] S101231. Determine the radius of the circumscribed circle of the second robot according to the outline size of the second robot.

[0140] S101232: Determine each prohibited point in the prohibited path as a circle center, determine the radius of the circumscribed circle as an expansion radius, and perform expansion processing.

[0141] Regarding step S101231, this step may specifically include: determining a minimum circumscribed circle of the second robot according to an outer contour size of the second robot, and determining the radius of the minimum circumscribed circle as the circumscribed circle radius of the second robot.

[0142] Regarding step S101232, there are multiple prohibited points on the prohibited path. The prohibited points may be determined by determining a prohibited point at a predetermined interval starting from the starting point of the prohibited path until the end point of the prohibited path, thereby obtaining multiple prohibited points. The starting point and the end point are also prohibited points.

[0143] In this way, the size information required for the expansion processing is determined according to the outline size of the robot, thereby improving the expansion efficiency, and the expansion size is determined according to the size of the second robot, which can help improve the effectiveness of the temporary restricted area determination results and avoid determining some non-restricted areas as restricted areas, thereby affecting the operation of the robot.

[0144] For rationality detection, a condition can be set that the first robot can avoid entering the initial focus area through motion control, and then the detection passes.

[0145] For example, see step S10124. Figure 3 , Figure 3 This is a schematic diagram of an initial area of ​​interest provided by this application. Figure 3 As shown, the first area is determined in the same manner as Figure 2 The initial region of interest is determined in the same manner as in , and the second region is the region determined after the expansion process. The union of the two is the initial region of interest determined by this determination method.

[0146] Regarding step S10125, the description of S10125 can refer to the description of S10112, and can achieve the same technical effect, so it will not be repeated here.

[0147] This method of determining the temporary restricted zone takes into account the yaw of the second robot, making the constructed temporary restricted zone for the first robot more accurate and effectively comparing the occurrence of collisions and jams during multi-robot operation (first and second robots). Furthermore, the second zone is determined based on the second robot's current position, focusing on its direction of motion toward the second matching point. This can reduce the possibility of overly large temporary restricted zones and prevent the first robot from making excessive detours.

[0148] Furthermore, a robot performing a docking match (such as a charging robot) is considered to be a robot without a primary task (such as cleaning, delivery, or mowing). Other robots are unaware of its status during the matching process. Therefore, other robots moving nearby may block its matching action, potentially leading to a collision. Setting up temporary no-go zones to prevent other robots from crossing between the matching charging robot and the charging station can effectively reduce collisions.

[0149] Continuing with step S101, the present application further provides a method for determining a temporary prohibited area for the first robot under a specific docking task.

[0150] When both the first robot and the second robot are robots that are docked with a charging pile to achieve charging, the first robot receives relevant position information sent by the second robot that is docked with the charging pile, and determines whether there is a temporary restricted area based on the relevant position information, including:

[0151] S10131. Initially construct a region based on the relevant location information to obtain an initial area of ​​interest.

[0152] S10132. Identify whether the current path of the first robot passes through the initial focus area.

[0153] S10133: If passing through the initial focus area, determine the scheduling priorities of the first robot and the second robot according to the robot model.

[0154] S10134: If the scheduling priority of the first robot is higher than the scheduling priority of the second robot, control the second robot to wait in place.

[0155] S10135. If the scheduling priority of the first robot is not higher than the scheduling priority of the second robot, perform a rationality check on the initial focus area. If the check passes, determine the initial focus area as a temporary no-entry area for the first robot.

[0156] Regarding step S10131, the method for determining the initial focus area in this step can adopt any of the two methods mentioned above, which will not be described in detail here.

[0157] Regarding step S10132, in this step, it is identified whether the current path of the first robot overlaps with the initial focus area. If there is overlap, it is determined that the first robot is about to pass through the initial focus area, and step S10133 is executed; if there is no overlap, it is determined that there is no temporary prohibited area for the first robot.

[0158] Regarding step S10133, this step may include: determining the scheduling priorities of the first robot and the second robot according to a preset mapping relationship between model and priority, the model of the first robot, and the model of the second robot.

[0159] For example, assuming that the second robot is a cleaning robot and the first robot is a delivery robot, when both robots need to be charged and there is a path conflict, the scheduling priority of the delivery robot can be set higher than the scheduling priority of the cleaning robot, that is, the scheduling priority of the first robot is higher than the scheduling priority of the second robot.

[0160] The mapping relationship between model and priority can be determined according to the urgency of the robot's task.

[0161] In this step, if the scheduling priority of the first robot is higher than the scheduling priority of the second robot, execute step S10134; otherwise, execute step S10135.

[0162] For examples, see Figure 4 , Figure 4 This is a schematic diagram of the scheduling principle of the robot during the charging process provided by this application. Figure 4 As shown, both charging points A and B belong to the first matching point. Assuming the scheduling priority of the first robot is higher than that of the second robot, when the second robot arrives at charging point B, the area between the second robot and charging pile B should be a temporary no-go zone for the first robot, regardless of the model. However, because the first robot has a higher priority than the second, it should be charged first. Therefore, the second robot is controlled to wait in place, while the first robot operates normally (passing between the second robot and charging pile B).

[0163] It should be noted that the second robot is controlled to wait in place to avoid a collision between the first and second robots. In practice, charging piles are often placed against walls, and other robots tend to choose avoidance points close to the side. Therefore, they typically choose points near the charging pile against the wall. The preset matching area / point is often a certain distance from the charging pile, a distance that can accommodate a single robot. If other robots in the scene need to navigate between the charging pile and the robot to be charged to reach the avoidance point against the wall, collisions and jamming are likely to occur. Controlling the second robot to wait in place can effectively prevent this situation.

[0164] Regarding step S10135, the description of the method for determining the temporary no-entry area in S10135 can refer to the description of S10112, and can achieve the same technical effect, so it will not be repeated here.

[0165] In this way, in the charging scenario, the scheduling priority is determined according to the robot model, and the robots with high scheduling priority are controlled to charge first, thereby effectively ensuring the robot's task execution efficiency and improving the user experience.

[0166] Regarding the rationality check in the above example, in one embodiment provided in this application, the rationality check is performed on the initial region of interest through the following steps:

[0167] S1. Determine, based on the current position of the first robot, whether the first robot is located within the initial focus area.

[0168] If the robot is determined to be within the initial focus area and does not meet the rationality requirements, the test fails. In this case, the second robot can be controlled to stop and the first robot can be controlled to move out of the area to improve safety. After the first robot leaves, real-time detection and re-path planning can be performed.

[0169] S3. If it is determined that the robot is not located within the initial focus area, determine an emergency stop area for the first robot according to the current position and the current speed of the first robot.

[0170] S4. If the emergency stop area intersects the initial area of ​​interest, the rationality requirement is not met and the test fails. In this case, the second robot can be controlled to stop and the first robot can be controlled to move away from the area to improve safety. Real-time testing can be resumed when the emergency stop area no longer intersects the initial area of ​​interest.

[0171] S5. If there is no intersection between the emergency stop area and the initial focus area, it is determined that the rationality requirement is met and the test is passed.

[0172] In step S1, if it is determined that the first robot is located within the initial focus area, step S2 is executed to determine whether there is a temporary no-travel area for the first robot. Otherwise, step S3 is executed.

[0173] With respect to step S3, the emergency stop area is the area that the first robot passes through due to inertia when controlling the first robot to stop urgently.

[0174] For step S4, if the detection fails, it is determined that there is no temporary prohibited area for the first robot.

[0175] In this way, by performing a rationality check on the initial focus area, the temporary restricted area of ​​the first robot is determined only after it passes the check, which can further improve the accuracy of the temporary restricted area determination result and help ensure the completion of the robot task.

[0176] With respect to step S102, in one embodiment provided in the present application, updating the current driving path of the first robot according to the temporary restricted area to obtain a target driving path includes:

[0177] S1021: Update the current environment map of the first robot according to the temporary restricted area to obtain a target environment map.

[0178] S1022: Construct a target path for the first robot to travel from the current position to the target position based on the target environment map.

[0179] For step S1021, the current environment map of the first robot is updated according to the temporary prohibited area, which can be: adding the temporary prohibited area to the current environment map of the first robot; or marking the area in the current map of the first robot corresponding to the temporary prohibited area as a temporary prohibited area.

[0180] Regarding step S1022, this step includes: constructing a target path for the first robot to travel from the current position to the target position but not passing through the temporary prohibited area according to the target environment map.

[0181] In addition, when the scheduling of the first robot and the second robot is completed, the temporary no-entry area is deleted from the target environment map; wherein, the triggering reason for the end of the scheduling includes at least one of the following: the second robot has been successfully docked and matched; the current interval distance between the first robot and the second robot is not less than a first preset distance; the first robot has traveled through all path points on the target path that are near the temporary no-entry area.

[0182] The first robot has passed all path points on the target path that are near the temporarily prohibited area, which means that the temporarily prohibited area is behind the first robot's path, no path points to be passed are located in the area, and the first robot has already left the area. The first preset distance can be set adaptively.

[0183] In this way, the present application provides a specific method for determining the target path, which can effectively improve the efficiency of determining the target path, and after the scheduling of the first robot and the second robot is completed, the temporary prohibited area is deleted from the target environment map, which can effectively ensure the normal execution of subsequent robot tasks.

[0184] Based on the same inventive concept, a scheduling device corresponding to the scheduling method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned scheduling method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0185] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of a robot scheduling device provided in an embodiment of the present application. Figure 5 As shown in , the scheduling device 500 includes:

[0186] Determination module 510, configured to determine whether a temporary restricted area exists based on the relevant position information received by the first robot from the second robot performing docking matching;

[0187] An updating module 520 is configured to update the current path of the first robot according to a temporary no-travel zone to obtain a target path if the temporary no-travel zone exists;

[0188] The control module 530 is configured to control the first robot to move along the target path.

[0189] Optionally, the relevant position information includes at least one of the following: a first matching point that the second robot needs to reach to perform docking matching, the current position of the second robot, and a second matching point corresponding to the first matching point, where the first matching point includes a posture adjustment point;

[0190] When the second robot is a delivery robot that performs docking and matching with a container or a shelf, the first matching point includes a position point around the container or the shelf where the second robot adjusts its posture, and the second matching point includes a position point of the container or the shelf;

[0191] When the second robot is a robot that performs docking matching with a workstation, the first matching point includes a position point of the second robot in front of the workstation where posture adjustment is performed, and the second matching point includes a position point of the workstation.

[0192] Optionally, when both the first robot and the second robot are robots that perform docking and matching with a charging pile to achieve charging, the determination module 510 is configured to, when the first robot receives relevant position information sent by the second robot that performs docking and matching, and determines whether there is a temporary restricted area based on the relevant position information, the determination module 510 is configured to:

[0193] Performing an initial region construction based on the relevant location information to obtain an initial region of interest;

[0194] Identifying whether the current path of the first robot passes through the initial area of ​​interest;

[0195] If passing through the initial focus area, determining the scheduling priority of the first robot and the second robot according to the robot model;

[0196] If the scheduling priority of the first robot is higher than the scheduling priority of the second robot, control the second robot to wait at the location;

[0197] If the scheduling priority of the first robot is not higher than the scheduling priority of the second robot, a rationality check is performed on the initial focus area. If the check passes, the initial focus area is determined as a temporary prohibited area for the first robot.

[0198] Optionally, the determining module 510 is further configured to obtain a temporary no-entry area by:

[0199] Performing region division according to the first matching point and the second matching point to obtain a first region including the first matching point and the second matching point;

[0200] Connecting the current position of the second robot and the first matching point with the second matching point respectively to obtain a prohibited path;

[0201] Expanding the prohibited path according to the outline size of the second robot to obtain a second area;

[0202] Determine a union area of ​​the first area and the second area as an initial area of ​​interest, and perform a rationality check on the initial area of ​​interest;

[0203] If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot.

[0204] Optionally, the determining module 510 is further configured to obtain a temporary no-entry area by:

[0205] Performing region division according to the first matching point and the second matching point to obtain an initial focus region including the first matching point and the second matching point, and performing a rationality check on the initial focus region;

[0206] If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot; correspondingly, the temporary prohibited area includes a pre-set fixed docking matching path.

[0207] Optionally, the determining module 510 is further configured to perform a rationality check on the initial region of interest through the following steps:

[0208] determining, based on a current position of the first robot, whether the first robot is located within the initial area of ​​interest;

[0209] If it is determined to be within the initial area of ​​concern, it is determined that the rationality requirements are not met and the test fails;

[0210] If it is determined that the robot is not located within the initial focus area, determining an emergency stop area for the first robot according to the current position of the first robot and the current speed of the first robot;

[0211] If the emergency stop area and the initial focus area intersect, it is determined that the rationality requirement is not met and the test fails;

[0212] If the emergency stop area and the initial focus area do not have an intersecting area, it is determined that the rationality requirement is met and the test passes.

[0213] Optionally, when the determining module 510 is used to expand the prohibited path according to the outline size of the second robot, the determining module 510 is used to:

[0214] determining a circumscribed circle radius of the second robot according to an outline size of the second robot;

[0215] Each prohibited point in the prohibited path is determined as a circle center, and the radius of the circumscribed circle is determined as an expansion radius, and an expansion process is performed.

[0216] Optionally, when the updating module 520 is used to update the current driving path of the first robot according to the temporary restricted area to obtain a target driving path, the updating module 520 is used to:

[0217] updating the current environment map of the first robot according to the temporary restricted area to obtain a target environment map;

[0218] Constructing a target path for the first robot to travel from a current position to a target position based on the target environment map;

[0219] When the scheduling of the first robot and the second robot is completed, the temporary restricted area is deleted from the target environment map; wherein, the triggering reason for the end of the scheduling includes at least one of the following: the second robot has been successfully docked and matched; the current interval between the first robot and the second robot is not less than a first preset distance; the first robot has traveled through all path points on the target path that are near the temporary restricted area.

[0220] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 As shown in FIG, the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0221] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figures 1 to 4 The specific implementation of the steps of the scheduling method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0222] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figures 1 to 4 The specific implementation of the steps of the scheduling method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0223] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0224] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0225] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0226] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0227] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0228] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A robot scheduling method, characterized in that: The scheduling method includes: When the first robot receives relevant position information sent by the second robot performing docking matching, the first robot determines whether there is a temporary prohibited area based on the relevant position information; If there is a temporary prohibited area, updating the current path of the first robot according to the temporary prohibited area to obtain a target path; Control the first robot to move along the target path.

2. The scheduling method according to claim 1, characterized in that: The relevant position information includes at least one of the following: a first matching point that the second robot needs to reach to perform docking matching, the current position of the second robot, and a second matching point corresponding to the first matching point, where the first matching point includes a posture adjustment point; When the second robot is a delivery robot that performs docking and matching with a container or shelf, the first matching points include positions of the second robot around the container or shelf where the second robot adjusts its posture, and the second matching points include positions of the container or shelf; When the second robot is a robot that performs docking matching with a workstation, the first matching point includes a position point of the second robot in front of the workstation where posture adjustment is performed, and the second matching point includes a position point of the workstation.

3. The scheduling method according to claim 1, characterized in that: When both the first robot and the second robot are robots that are docked with a charging pile to achieve charging, the first robot receives relevant position information sent by the second robot that is docked with the charging pile, and determines whether there is a temporary restricted area based on the relevant position information, including: Performing an initial region construction based on the relevant location information to obtain an initial region of interest; Identifying whether the current path of the first robot passes through the initial area of ​​interest; If passing through the initial focus area, determining the scheduling priority of the first robot and the second robot according to the robot model; If the scheduling priority of the first robot is higher than the scheduling priority of the second robot, control the second robot to wait at the location; If the scheduling priority of the first robot is not higher than the scheduling priority of the second robot, a rationality check is performed on the initial focus area. If the check passes, the initial focus area is determined as a temporary prohibited area for the first robot.

4. The scheduling method according to claim 2, characterized in that: The temporary restricted area is obtained by the following method: Performing region division according to the first matching point and the second matching point to obtain a first region including the first matching point and the second matching point; Connecting the current position of the second robot and the first matching point with the second matching point respectively to obtain a prohibited path; Expanding the prohibited path according to the outline size of the second robot to obtain a second area; Determine a union area of ​​the first area and the second area as an initial area of ​​interest, and perform a rationality check on the initial area of ​​interest; If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot.

5. The scheduling method according to claim 2, characterized in that: The temporary restricted area is obtained by the following method: Performing region division according to the first matching point and the second matching point to obtain an initial focus region including the first matching point and the second matching point, and performing a rationality check on the initial focus region; If the detection passes, the initial focus area is determined as a temporary prohibited area for the first robot; correspondingly, the temporary prohibited area includes a pre-set fixed docking matching path.

6. The scheduling method according to any one of claims 3 to 5, characterized in that: Perform a rationality check on the initial area of ​​interest by following the steps below: determining, based on a current position of the first robot, whether the first robot is located within the initial area of ​​interest; If it is determined to be within the initial area of ​​concern, it is determined that the rationality requirements are not met and the test fails; If it is determined that the robot is not located within the initial focus area, determining an emergency stop area for the first robot according to the current position of the first robot and the current speed of the first robot; If the emergency stop area and the initial focus area intersect, it is determined that the rationality requirement is not met and the test fails; If the emergency stop area and the initial focus area do not have an intersecting area, it is determined that the rationality requirement is met and the test passes.

7. The scheduling method according to claim 4, characterized in that: The step of expanding the prohibited path according to the outline size of the second robot includes: determining a circumscribed circle radius of the second robot according to an outline size of the second robot; Each prohibited point in the prohibited path is determined as a circle center, and the radius of the circumscribed circle is determined as an expansion radius, and an expansion process is performed.

8. The scheduling method according to claim 1, characterized in that: The updating of the current driving path of the first robot according to the temporary restricted area to obtain a target driving path includes: updating the current environment map of the first robot according to the temporary restricted area to obtain a target environment map; Constructing a target path for the first robot to travel from a current position to a target position based on the target environment map; When the scheduling of the first robot and the second robot is completed, the temporary restricted area is deleted from the target environment map; wherein, the triggering reason for the end of the scheduling includes at least one of the following: the second robot has been successfully docked and matched; the current interval between the first robot and the second robot is not less than a first preset distance; the first robot has traveled through all path points on the target path that are near the temporary restricted area.

9. A robot scheduling device, characterized in that: The scheduling device includes: A determination module is configured to determine whether a temporary restricted area exists based on the relevant position information received by the first robot from the second robot performing docking matching; An updating module, configured to update the current path of the first robot according to a temporary no-travel zone to obtain a target path if the temporary no-travel zone exists; A control module is used to control the first robot to move along the target path.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the scheduling method according to any one of claims 1 to 8 are executed.

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