A method, system, program product, and apparatus for autonomous navigation of a swarm of construction robots

Abstract

The embodiment of the application provides a kind of building robot cluster autonomous navigation method, system, program product and equipment, it is related to robot technical field.The method is by any first robot in the first robot cluster from the starting place to the destination in advance after moving, the first robot in the first robot cluster obtains the first path of multiple second robots in the second robot cluster, selects one from the first path of multiple second robots as reference path, in the process of moving along reference path with the rest of the first robot, at least one dangerous area associated with reference path is determined periodically, the current planning speed and the current formation of the first robot cluster, and move according to current planning speed and current formation to bypass at least one dangerous area, it can realize the autonomous navigation of the first robot cluster, ensure that the first robot cluster is adapted to the flexible and safe movement of work environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a construction robot cluster autonomous navigation method, system, program product and equipment. BACKGROUND

[0002] A construction robot is an automated or semi-automated device specially designed to perform construction tasks in a complex and variable environment, such as performing construction tasks such as construction, equipment maintenance and terrain detection on a high-temperature and dusty construction site using a construction robot. Since the construction site and other working environments usually change continuously, there is a lack of fixed reference objects and standardized layouts, so the construction robot needs to rely on real-time navigation technology to plan the task execution path. However, on the one hand, vibration sources and other factors in the working environment can easily interfere with the positioning of the construction robot, and on the other hand, stationary obstacles and moving obstacles in the working environment can easily hinder the movement of the construction robot, so the construction robot often has to brake and adjust the task execution path when detecting obstacles.

[0003] It can be seen that in the process of moving in an unstructured environment, the existing construction robot is difficult to adaptively plan the task execution path in advance by perceiving the influencing factors in the working environment, and faces problems such as insufficient environmental perception ability and poor path planning ability, making it difficult to ensure that the construction robot moves flexibly and safely in the working environment. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a construction robot cluster autonomous navigation method, system, program product and equipment to realize first robot cluster autonomous navigation and ensure that the first robot cluster moves flexibly and safely in the working environment.

[0005] In a first aspect, the embodiments of the present application provide a construction robot cluster autonomous navigation method applied to any first robot in a first robot cluster; the method comprises:

[0006] Obtaining a preceding path of a plurality of second robots in a second robot cluster; wherein the preceding path of the plurality of second robots is a moving path of the plurality of second robots from a starting point to a destination, and the preceding paths of the plurality of second robots are different;

[0007] Selecting one of the preceding paths of the plurality of second robots as a reference path and moving along the reference path with the rest of the first robots in the first robot cluster except the first robot;

[0008] During movement along the reference path, a current planning speed and a current formation of the first robot cluster are determined according to at least one dangerous area associated with the reference path, and the first robot cluster moves at the current planning speed and the current formation to bypass the at least one dangerous area; wherein the at least one dangerous area includes an area marked by the plurality of second robots during movement from the starting point to the destination and satisfying a distance condition with the reference path.

[0009] In the above implementation process, by acquiring the preceding paths of the plurality of second robots in the second robot cluster by any first robot in the first robot cluster after the second robot cluster moves from the starting point to the destination in advance, selecting one of the preceding paths of the plurality of second robots as the reference path, and determining the current planning speed and the current formation of the first robot cluster according to at least one dangerous area associated with the reference path during movement of the remaining first robots along the reference path, and moving at the current planning speed and the current formation to bypass the at least one dangerous area, the plurality of feasible paths for movement from the starting point to the destination by the second robot cluster and the marked areas along the paths can be found in advance, and the information is comprehensively planned to plan the movement scheme of the first robot cluster, thereby realizing autonomous navigation of the first robot cluster and ensuring flexible and safe movement of the first robot cluster in the working environment.

[0010] Further, the acquiring the preceding paths of the plurality of second robots in the second robot cluster comprises:

[0011] The initial path of each second robot in the second robot cluster is determined by path planning according to map information collected by the each second robot;

[0012] The optimized path of the each second robot is obtained by path optimization of the initial path of the each second robot based on an ant colony algorithm by the each second robot;

[0013] During movement along the optimized path of the each second robot, the optimized path of the each second robot is adjusted according to current environment information collected by the each second robot, until the latest adjusted optimized path of the each second robot is taken as the preceding path of the each second robot after a time length of movement of the each second robot satisfies a time length condition.

[0014] In the implementation process, the initial path of each second robot is determined by each second robot in the second robot cluster performing path planning according to the map information collected by itself in advance, the initial path of each second robot is optimized based on the ant colony algorithm to obtain the optimized path of each second robot, and in the process of moving along the optimized path of each second robot, the optimized path of each second robot is adjusted regularly according to the current environment information collected by each second robot until the latest adjusted optimized path of each second robot is taken as the preceding path of each second robot after the moving time length of each second robot meets the time length condition, which can ensure that there is a path segment as long as possible in the preceding path of each second robot, which is the path segment of each second robot moving in the real working environment, and the task execution efficiency of the first robot cluster is also considered, which is beneficial to improve the real effectiveness of the preceding paths of multiple second robots.

[0015] Further, the selecting one from the preceding paths of the multiple second robots as a reference path comprises:

[0016] For each second robot in the multiple second robots, a risk index of the preceding path of the second robot is evaluated; wherein the risk index is used to indicate the number of dangerous areas associated with the preceding path of the second robot;

[0017] The preceding path corresponding to the minimum risk index value is selected from the preceding paths of the multiple second robots as the reference path.

[0018] In the implementation process, by evaluating the risk index of the preceding path of the multiple second robots by any first robot in the first robot cluster, and selecting the preceding path corresponding to the minimum risk index value from the preceding paths of the multiple second robots as the reference path, the first robot cluster can be further ensured to adapt to the working environment and move flexibly and safely.

[0019] Further, the first robot is configured with an environment perception module, an obstacle avoidance module and a path planning module; the at least one dangerous area further comprises an obstacle area identified by the environment perception module; and the determining the current planning speed and the current formation of the first robot cluster regularly according to the at least one dangerous area associated with the reference path comprises:

[0020] The obstacle avoidance module is executed by:

[0021] After each adjustment period arrives, the reference path is divided into multiple reference path segments based on the path segmentation point determined according to the at least one dangerous area;

[0022] determine a maximum planning speed of the target path segment according to a terrain risk level of the target path segment, wherein the target path segment comprises a current reference path segment in which the first robot is currently positioned among the plurality of reference path segments, and a subsequent reference path segment of the current reference path segment;

[0023] determine the current planning speed according to the current moving speed of the first robot and the maximum planning speed of the target path segment;

[0024] determine the current formation of the cluster by the path planning module with the objective of minimizing cluster energy power.

[0025] In the implementation process, by pre-configuring the environment perception module, the obstacle avoidance module and the path planning module for the first robot, the first robot determines the path segmentation point based on at least one dangerous area to segment the reference path into a plurality of reference path segments under the premise that the dangerous area such as the obstacle area is identified by the environment perception module, determines the maximum planning speed of the target path segment according to the terrain risk level of the target path segment among the plurality of reference path segments, determines the current planning speed according to the current moving speed of the first robot and the maximum planning speed of the target path segment, and determines the current formation of the cluster by the path planning module with the objective of minimizing cluster energy power, which can accurately plan the moving scheme of the first robot cluster in advance, and further ensure that the first robot cluster moves flexibly and safely in the working environment.

[0026] Further, the plurality of first robots in the first robot cluster comprise construction robots, and the plurality of second robots comprise construction robots.

[0027] In the implementation process, the plurality of construction robots are selected to establish the first robot cluster, and the plurality of construction robots are selected to establish the second robot cluster, which can utilize the construction robot cluster to autonomously navigate in the working environment such as a construction site, and better meet the construction task execution requirements.

[0028] In a second aspect, the embodiments of the present application provide a construction robot cluster autonomous navigation device, which is applied to any first robot in a first robot cluster; the device comprises:

[0029] a preceding path acquisition unit configured to acquire preceding paths of a plurality of second robots in a second robot cluster; wherein the preceding paths of the plurality of second robots are moving paths of the plurality of second robots from a starting point to a destination respectively, and the preceding paths of the plurality of second robots are different;

[0030] a reference path selection unit configured to select one of the preceding paths of the plurality of second robots as a reference path, and move along the reference path together with the rest of the first robots in the first robot cluster except the first robot;

[0031] a navigation movement control unit configured to periodically determine a current planning speed and a current formation of the first robot cluster according to at least one dangerous area associated with the reference path during the movement along the reference path, and move at the current planning speed and the current formation to bypass the at least one dangerous area; wherein the at least one dangerous area comprises an area marked by the plurality of second robots during the movement from the starting point to the destination, and the distance between the area and the reference path satisfies a distance condition.

[0032] In a third aspect, an embodiment of the present application provides a self-navigation system for a robot cluster, comprising a first robot cluster, wherein the first robot cluster comprises a plurality of first robots;

[0033] any first robot in the first robot cluster is configured to:

[0034] obtain preceding paths of a plurality of second robots in a second robot cluster; wherein the preceding paths of the plurality of second robots are movement paths of the plurality of second robots from a starting point to a destination respectively, and the preceding paths of the plurality of second robots are different;

[0035] select one of the preceding paths of the plurality of second robots as a reference path, and move along the reference path together with the rest of the first robots in the first robot cluster except the first robot;

[0036] periodically determine a current planning speed and a current formation of the first robot cluster according to at least one dangerous area associated with the reference path during the movement along the reference path, and move at the current planning speed and the current formation to bypass the at least one dangerous area; wherein the at least one dangerous area comprises an area marked by the plurality of second robots during the movement from the starting point to the destination, and the distance between the area and the reference path satisfies a distance condition.

[0037] Further, the system further comprises a second robot cluster;

[0038] each second robot in the second robot cluster is configured to:

[0039] plan a path according to map information collected by the each second robot, and determine an initial path of the each second robot;

[0040] perform path optimization on the initial path of each second robot based on an ant colony algorithm to obtain an optimized path of each second robot;

[0041] In the process of moving along the optimized path of each second robot, periodically performing path re-planning on the optimized path of each second robot according to current environment information collected by each second robot until a latest optimized path of each second robot is taken as a preceding path of each second robot after a moving duration of each second robot meets a duration condition.

[0042] In a fourth aspect, an embodiment of the present application provides a computer program product, which comprises instructions, and the instructions, when executed by a computer, cause the computer to implement the method described above.

[0043] In a fifth aspect, an embodiment of the present application provides an electronic device, which comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor; and the processor implements the method described above when executing the computer program.

[0044] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which comprises a stored computer program; and when the computer program runs, the computer-readable storage medium controls a device where the computer-readable storage medium is located to execute the method described above. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0046] Figure 1 A flowchart of a building robot cluster autonomous navigation method provided by the first embodiment of the present application;

[0047] Figure 2 A schematic diagram of the second robot cluster moving from a starting place to a destination for the first embodiment example of the present application;

[0048] Figure 3 A schematic diagram of the first robot cluster starting from a starting place for the first embodiment example of the present application;

[0049] Figure 4 A schematic diagram of the first robot cluster selecting a reference path for the first embodiment example of the present application;

[0050] Figure 5 A schematic diagram of a first robot cluster moving along a reference path according to a first embodiment of the present application;

[0051] Figure 6 A structural schematic diagram of an autonomous navigation device of a construction robot cluster according to a second embodiment of the present application;

[0052] Figure 7 A structural schematic diagram of an autonomous navigation system of a construction robot cluster according to a third embodiment of the present application;

[0053] Figure 8 A structural schematic diagram of an electronic device according to a fifth embodiment of the present application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0055] It should be noted that in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance. At the same time, the step numbers in the text are only for the convenience of explaining the embodiments of the present application, and do not serve as the function of limiting the execution sequence of the steps.

[0056] A construction robot is an automated or semi-automated device specially designed to perform construction tasks in a complex and variable environment, such as performing construction tasks, equipment maintenance and terrain detection on a construction site with high temperature and dust using a construction robot. Since the working environment such as a construction site usually changes continuously, there is a lack of fixed reference and standardized layout, so the construction robot needs to rely on real-time navigation technology to plan the task execution path. However, on the one hand, vibration sources and other factors in the working environment can easily interfere with the positioning of the construction robot, on the other hand, stationary obstacles and moving obstacles in the working environment can easily hinder the movement of the construction robot, and the construction robot often has to wait until the obstacle is detected before braking and adjusting the task execution path.

[0057] In related technologies, in the process of moving in an unstructured environment, the existing construction robot is difficult to adaptively plan the task execution path in advance by perceiving the influencing factors in the working environment, and faces problems such as insufficient environmental perception ability and poor path planning ability, making it difficult to ensure that the construction robot moves flexibly and safely in the working environment.

[0058] To this end, the embodiment of the present application provides a building robot cluster autonomous navigation method, by any first robot in the first robot cluster acquiring the preceding paths of the plurality of second robots in the second robot cluster after the second robot cluster moves from the starting point to the destination in advance, selecting one of the preceding paths of the plurality of second robots as a reference path, and determining the current planning speed and the current formation of the first robot cluster according to at least one dangerous area associated with the reference path during the movement of the first robot along the reference path with the remaining first robots, and moving at the current planning speed and the current formation to bypass the at least one dangerous area, which can utilize the second robot cluster to find a plurality of feasible paths from the starting point to the destination and mark the areas along the way, and comprehensively plan the movement scheme of the first robot cluster based on these information, so as to realize the autonomous navigation of the first robot cluster and ensure that the first robot cluster moves flexibly and safely in the working environment.

[0059] Please refer to Figure 1 , Figure 1 The flowchart of the building robot cluster autonomous navigation method provided by the first embodiment of the present application. The first embodiment of the present application provides a building robot cluster autonomous navigation method, which is applied to any first robot in the first robot cluster; the method comprises steps S101-S103:

[0060] S101, acquiring the preceding paths of the plurality of second robots in the second robot cluster; wherein the preceding paths of the plurality of second robots are the moving paths of the plurality of second robots from the starting point to the destination respectively, and the preceding paths of the plurality of second robots are not the same.

[0061] As an example, according to the actual business demand, the first robot cluster and the second robot cluster are established in advance, the first robot cluster comprises a plurality of first robots, the second robot cluster comprises a plurality of second robots, and the starting point and the destination of the robot cluster are determined.

[0062] Compared with the first robot cluster, the second robot cluster moves from the starting point to the destination in advance. The plurality of second robots in the second robot cluster detect the feasible areas in a ring outward diffusion manner from the starting point to the destination, and determine the directions of travel of the plurality of second robots to the destination. The plurality of second robots move from the starting point to the destination according to the directions of travel respectively, identify the areas that may affect the robot work such as obstacle areas during the movement from the starting point to the destination, mark these areas using the marking agent carried by each robot such as chemical fluorescent marking agent, and send the moving path from the starting point to the destination to the first robot cluster, so that any first robot in the first robot cluster can acquire the moving path from the starting point to the destination of the plurality of second robots, i.e. the preceding paths of the plurality of second robots.

[0063] S102、from the plurality of second robots, select one as a reference path, and move along the reference path with the rest of the first robots in the first robot cluster except the first robot.

[0064] As an example, the first robot selects one as a reference path from the plurality of second robots after obtaining the plurality of second robots' previous paths.

[0065] In practical applications, the path length of the reference path can be the shortest path from the plurality of second robots' previous paths, or the path with the lowest terrain risk level, such as the flattest path, can be selected as the reference path. The reference path selection strategy is set according to actual business needs.

[0066] S103、in the process of moving along the reference path, periodically determine the current planning speed and current formation of the first robot cluster according to at least one dangerous area associated with the reference path, and move at the current planning speed and current formation to avoid the at least one dangerous area; wherein the at least one dangerous area includes areas marked by the plurality of second robots in the process of moving from the starting point to the destination, and the distance from the reference path meets the distance condition.

[0067] As an example, the first robot determines at least one dangerous area associated with the reference path when each adjustment period arrives in the process of moving along the reference path, wherein the at least one dangerous area includes areas marked by the plurality of second robots in the process of moving from the starting point to the destination, and the distance from the reference path meets the distance condition.

[0068] In practical applications, the adjustment period can be set according to the path length of the reference path and the historical average moving speed of the first robot. The adjustment period is set according to actual business needs. The distance condition can be set according to the structure size of a single first robot and the overall structure size of the first robot cluster arranged in the historical formation, such as the distance between the area and the reference path being less than a pre-set distance threshold. The distance condition is set according to actual business needs.

[0069] After determining the at least one dangerous area, the first robot determines the current planning speed and current formation of the first robot cluster according to the at least one dangerous area, and moves at the current planning speed and current formation to avoid the at least one dangerous area.

[0070] The first robot cluster can realize autonomous navigation and move flexibly and safely in the working environment by using the multiple feasible paths and the marked areas along the paths found by the second robot cluster in advance to reasonably plan the moving scheme of the first robot cluster, including planning the moving path, moving speed and formation of the first robot cluster.

[0071] The first robot cluster can realize autonomous navigation and move flexibly and safely in the working environment by using the multiple feasible paths and the marked areas along the paths found by the second robot cluster in advance to reasonably plan the moving scheme of the first robot cluster, including planning the moving path, moving speed and formation of the first robot cluster.

[0072] In the optional embodiment, the obtaining of the first path of each second robot in the second robot cluster includes: each second robot in the second robot cluster plans a path according to the map information collected by each second robot to determine an initial path of each second robot; each second robot optimizes the initial path of each second robot based on an ant colony algorithm to obtain an optimized path of each second robot; each second robot adjusts the optimized path of each second robot according to the current environment information collected by each second robot during the movement along the optimized path of each second robot, until the moving time length of each second robot satisfies a time length condition, and then the optimized path of each second robot adjusted lastly is taken as the first path of each second robot.

[0073] For example, in order to ensure that a path segment in the first path of each second robot is as long as possible and is the path segment of each second robot in the real working environment, and at the same time, the task execution efficiency of the first robot cluster is taken into account, the following method can be used to obtain the first path of each second robot.

[0074] For each second robot in the second robot cluster, the second robot explores feasible areas and collects map information in a circular outward diffusion manner from the starting point to the destination, determines the direction of travel of the second robot to the destination, and performs path planning based on the collected map information to determine the initial path for the second robot to move from the starting point to the destination in its direction of travel.

[0075] In practical applications, a SLAM (Simultaneous Localization and Mapping) system and a LiDAR can be configured on the second robot, enabling the second robot to use the SLAM system and LiDAR to collect map information and build a map.

[0076] It should be noted that the map information includes the location information of each detected target.

[0077] In practical applications, to ensure accurate path planning by multiple second robots, each second robot can share its collected map information with the others. Furthermore, to ensure that the final paths acquired by the multiple second robots are not identical, each second robot can share its initial path with the others.

[0078] After obtaining the initial paths of multiple second robots, the second robot optimizes the initial paths of the multiple second robots based on the ant colony algorithm to obtain the optimized path of the second robot.

[0079] In practical applications, the process of the second robot optimizing the initial paths of multiple second robots based on the ant colony algorithm can be as follows:

[0080] 1. Initialization phase: The JPS (Jump Point Search) algorithm is used to construct a global path based on the initial path of the second robot, and the historical best path of the second robot in the database is loaded as the learning path to optimize the global path.

[0081] Initialize pheromones:

[0082] (1);

[0083] In equation (1), For nodes and nodes Connection edge The initial pheromone concentration is determined by the initial path, which is represented by a discrete sequence of nodes. and nodes These are two nodes in the initial path, nodes It is a node The next node, connecting edges Indicates a path segment; The baseline pheromone concentration is a constant, usually set to a small positive number, such as 0.1 or 1.0, representing the baseline value of pheromone concentration; The global path generated using the JPS algorithm is represented by a discrete sequence of nodes; For nodes To global path The minimum distance, This represents the formula for calculating Euclidean distance. This is the weighting coefficient for the database path, used to adjust the impact of the historical best path on pheromone initialization. It is usually set to a non-negative constant less than 1, such as 0.5, to indicate the importance of the historical best path relative to the global path. The number of historical best paths stored in the database. The historically optimal path can be the path with the lowest cost. ; For the first in the database The historically optimal path; For nodes To the The historical best path The minimum distance; This is the attenuation coefficient, used to control the rate at which pheromones decay with increasing distance. The larger the size, the wider the pheromone distribution. The smaller the pheromone, the more concentrated it is near the path; This represents an exponential function used to map distances to a weight between 0 and 1, where the closer the distance, the closer the value is to 1, and the farther the distance, the closer the value is to 0.

[0084] The core idea of ​​the above formula (1) is: at the beginning of the ant colony algorithm, pheromones are concentrated near high-quality paths to guide the ants, i.e., the second robot, to search in these areas. Specifically, it is divided into two parts: the first part is to generate a global path based on the JPS algorithm, so that the initial pheromone concentration of the connecting edges close to the global path is higher, while the initial pheromone concentration of the connecting edges far from the global path is lower. In this way, the ants will tend to search along the global path in the initialization phase; the second part is that each historical best path in the database (which may come from previous planning tasks or iteration processes) will contribute to the pheromone. The size of the contribution depends on the minimum distance from the node to the historical best path and the weight coefficient. In this way, ants can use historical experience to conduct more focused searches around the global path.

[0085] 2. Ant colony search phase: the second robot generates candidate paths according to the optimized transition probability rule.

[0086] The transition probability of the algorithm is as follows:

[0087] (2);

[0088] In formula (2), is the probability of the ant k (i.e., the second robot) moving from node to node at time t; is the pheromone concentration on the edge at time t; is the traditional heuristic factor at time t, used to provide heuristic information based on path cost; is the hybrid heuristic factor at time t, used to generate a high-quality path distribution using a genetic algorithm; is the database guidance factor at time t, used to enhance the bias towards the historical optimal path; is the set of optional neighbor nodes of the ant k at node ; is the summation index for traversing all optional neighbor nodes in the set of optional neighbor nodes; is the exponential weight factor of the pheromone concentration, used to control the influence of pheromones, and is usually valued at (1, 2); is the exponential weight factor of the traditional heuristic factor, used to control the weight of heuristic information, and is usually valued at (2, 5); is the exponential weight factor of the hybrid heuristic factor, used to control the strength of intelligent guidance.

[0089] The core idea of the above formula (2) is to guide the ants to move to areas with higher pheromone concentrations and to determine the direction of the ants.

[0090] 3. Genetic operation phase: performing crossover and mutation operations on the population to generate paths with diversity.

[0091] 4. Local search phase: selecting elite paths from all paths and performing insertion or deletion of path nodes on the elite paths to optimize them.

[0092] 5. Pheromone update phase: updating the pheromones based on the results of the ant colony search phase, the genetic operation phase, and the local search phase.

[0093] The dynamic pheromone update formula is as follows:

[0094] (3);

[0095] In formula (3), is the pheromone concentration on the connecting edge at time t+1 (the time after the current time t is updated); is the pheromone concentration on the connecting edge at time t+1 (the time after the current time t is updated); is the pheromone evaporation rate, used to control the pheromone decay speed; is the pheromone increment released by ant k when passing through the connecting edge , , is the total number of ants; is the pheromone increment on path n, , is the number of new paths generated by the ant colony algorithm; is the pheromone increment on path m, , is the local search gain coefficient, used to amplify or reduce the pheromone contribution of the local search path, is the path sequence, including the path m optimized by the local search, is the total cost of path , which is generally a constant, is the global optimal solution memory bank, after each iteration, the worst path in the memory bank is replaced with the newly discovered high-quality path, , is the number of paths optimized by the local search.

[0096] The core idea of the above formula (3) is to consider that the ants will leave pheromones on the moving path during movement, and the pheromones will evaporate with the passage of time, that is, update, and by constantly updating the pheromones, the optimized path is converged.

[0097] During the movement of the second robot along its optimized path, when each update period arrives, the current environment information is collected, the optimized path of the second robot is adjusted according to the current environment information, the current adjusted optimized path of the second robot is obtained, and until the movement duration of the second robot satisfies the duration condition, the latest adjusted optimized path of the second robot is taken as the preceding path of the second robot.

[0098] In actual application, the duration condition can be that the movement duration is greater than a duration threshold. The duration condition is specifically set according to actual business requirements.

[0099] In actual application, the second robot can be configured with a visual camera, a vibration sensor and a temperature sensor, so that the second robot can collect the current environment information by using the visual camera, the vibration sensor and the temperature sensor, etc., to help capture target such as motion obstacles in the working environment, and to predict the temperature of the working environment.

[0100] The embodiment of the application can ensure that one path segment in the first path of each second robot is as long as possible, which is the path segment of each second robot moving in the real working environment, and at the same time, the task execution efficiency of the first robot cluster is taken into account, which is beneficial to improve the real effectiveness of the first path of each second robot.

[0101] In optional embodiments, the selecting one first path of the plurality of second robots as the reference path comprises: for each second robot of the plurality of second robots, evaluating a risk index of the first path of the second robot; wherein the risk index is used to indicate the number of dangerous areas associated with the first path of the second robot; and selecting the first path corresponding to the minimum risk index value from the first paths of the plurality of second robots as the reference path.

[0102] As an example, the first robot evaluates the risk index of the first path of each second robot of the plurality of second robots, thereby obtaining the risk index values of the first paths of the plurality of second robots, wherein the risk index of the first path of the second robot is used to indicate the number of dangerous areas associated with the first path of the second robot.

[0103] It should be noted that the risk index value of the first path of the second robot is positively correlated with the number of dangerous areas associated with the first path of the second robot. That is, if the number of dangerous areas associated with the first path of the second robot is large, it is considered that there are more dangerous areas near the first path of the second robot, and these dangerous areas are distributed more densely, and the risk of the first robot moving along the first path of the second robot is higher, and the risk index value of the first path of the second robot is larger; if the number of dangerous areas associated with the first path of the second robot is small, it is considered that there are fewer dangerous areas near the first path of the second robot, and these dangerous areas are distributed more sparsely, and the risk of the first robot moving along the first path of the second robot is lower, and the risk index value of the first path of the second robot is smaller.

[0104] The first robot selects a preceding path corresponding to the minimum risk index value from the preceding paths of the plurality of second robots as a reference path after obtaining risk index values of the preceding paths of the plurality of second robots, and a second robot on the reference path becomes a leader of the first robot cluster to lead the first robot cluster to the destination, and the second robots on the remaining preceding paths go to the destination by themselves.

[0105] In actual application, the moving path of the first robot cluster is determined by the path information transmitted by the second robot cluster, and the first robot cluster selects a path based on the path information transmitted by the second robot cluster, and the path selection mechanism is as follows:

[0106] 1. Selection equation:

[0107] (4);

[0108] In formula (4), is the velocity vector of individual a (i.e. the second robot a); is the obstacle density function at the position of individual a; represents a Hamiltonian operator; is a neighbor set (within a radius r) within the perception range of individual a; is the velocity vector of individual b perceived by individual a (i.e. the neighbor b perceived by the second robot a, and the neighbor b is the second robot b); is a resource tracking coefficient, is a group alignment strength; is a random disturbance strength, is a random disturbance at time t.

[0109] 2. Path memory equation:

[0110] (5);

[0111] In formula (5), is the obstacle intensity perceived by the robot at position x at time t; is the obstacle density function at position ; is the individual density passing through position x within a time period τ from the starting time point 0 to the current time point t; is a path memory strength coefficient, is a decay rate.

[0112] 3. Information diffusion equation:

[0113] (6);

[0114] In formula (6), I(x, t) is the "infection" individual density (i.e., a robot receiving a mobile signal) of position x at time t; D is an information diffusion coefficient (dependent on individual movement speed and perception range); v is an information transmission rate; is the total density of the group.

[0115] The embodiment of the application can further ensure that the first robot cluster is adapted to the work environment and moves flexibly and safely by evaluating the risk indicators of the preceding paths of the plurality of second robots by any first robot in the first robot cluster, selecting the preceding path corresponding to the minimum risk indicator value from the preceding paths of the plurality of second robots as the reference path.

[0116] In an optional embodiment, the first robot is configured with an environment perception module, an obstacle avoidance module, and a path planning module; the at least one dangerous area further includes an obstacle area identified by the environment perception module; and the periodically determining the current planning speed and the current formation of the first robot cluster according to the at least one dangerous area associated with the reference path includes: performing, by the obstacle avoidance module: after each adjustment period arrives, determining a path segmentation point based on the at least one dangerous area, and segmenting the reference path into a plurality of reference path segments; determining a maximum planning speed of a target path segment according to a terrain risk level of the target path segment; wherein the target path segment includes a current reference path segment in which the first robot is currently positioned and a subsequent reference path segment of the current reference path segment; determining the current planning speed according to the current movement speed of the first robot and the maximum planning speed of the target path segment; and determining the current formation by the path planning module to minimize the energy power of the cluster.

[0117] For example, the first robot is preconfigured with the environment perception module, the obstacle avoidance module, and the path planning module according to actual application requirements.

[0118] In an optional implementation of the embodiment, the environment perception module includes one or more of a SLAM system, a laser radar, a vibration sensor, a visual camera, and a temperature sensor.

[0119] Since the first robot is configured with the environment perception module, the first robot can identify dangerous areas such as obstacle areas, high-temperature areas, and low-temperature areas through the environment perception module during movement along the reference path, wherein the high-temperature area refers to an area with a temperature exceeding an upper limit of a work temperature, and the low-temperature area refers to an area with a temperature exceeding a lower limit of the work temperature.

[0120] At this time, the at least one dangerous area further includes dangerous areas such as obstacle areas identified by the first robot through the environment perception module.

[0121] Under the premise, the first robot, in the process of moving along the reference path, performs the following operations by the obstacle avoidance module: determining a path segmentation point based on the at least one dangerous area to segment the reference path into a plurality of reference path segments upon arrival of each adjustment period; determining a maximum planning speed of a target path segment according to a terrain risk level of the target path segment, wherein the target path segment includes a current reference path segment in which the first robot is currently positioned and a subsequent reference path segment of the current reference path segment; and determining a current planning speed according to a current moving speed of the first robot and the maximum planning speed of the target path segment.

[0122] In actual applications, the obstacle avoidance module adopts a forward-looking avoidance model, which determines the path segmentation point based on the estimated position of the at least one dangerous area, in combination with the current moving speed of the first robot and the braking capability to segment the reference path into a plurality of reference path segments. The current reference path segment in which the first robot is currently positioned and the subsequent reference path segment of the current reference path segment among the plurality of reference path segments are taken as the target path segment, and for each target path segment, a maximum planning speed is assigned to the target path segment according to a terrain risk level of the target path segment. The current planning speed is obtained by performing speed planning according to the current moving speed of the first robot and the maximum planning speeds of all target path segments, such as decelerating in advance before entering the dangerous area and reducing the speed to within a safe speed range when reaching the dangerous area, to obtain a smooth speed curve of the first robot moving on all target path segments.

[0123] wherein the first robot determines a segmentation path length of the cth path segment, i.e., formula (8), and determines a maximum planning speed of the cth path segment, i.e., formula (9), according to a risk factor of the cth path segment, i.e., formula (7):

[0124] (7);

[0125] In formula (7), is a risk factor of the cth path segment; is a slope risk value of the cth path segment, , is an actual terrain slope angle, is a maximum safe slope angle; is a soil softness risk value of the cth path segment, , is a sensitivity coefficient, is an actual friction coefficient, is a critical friction coefficient; is an obstacle density value of the cth path segment, , and These are the weighting coefficients for slope risk value, soil softness risk value, and obstacle density value, respectively.

[0126] (8);

[0127] In equation (8), Let be the segmented path length of the c-th path, and be the actual path length traveled by the first robot on the c-th path. The segmentation distance of the c-th path is the theoretical path length that the first robot travels on the c-th path, which is discretized based on the braking capability. For safety factor; This represents the maximum segmentation path length.

[0128] (9);

[0129] In equation (9), The maximum planned speed for the c-th path segment; This refers to the local gravitational acceleration. The safe distance for the c-th path segment is a dynamically adjustable buffer distance. Let be the friction coefficient of the c-th path segment.

[0130] The formula for calculating the deceleration point is as follows:

[0131] (10);

[0132] In equation (10), The coordinates of the arc length of the obstacle on the path; The safety margin factor is determined by sensor error and control delay; This is the theoretical braking distance.

[0133] As the first robot moves along the reference path, it also uses a path planning module to determine the current formation with the goal of minimizing the energy consumption of the cluster.

[0134] The first robot relies on a cluster energy and power optimization model to control the formation of the robot cluster in real time. Its dynamic model is as follows:

[0135] 1. Navigator's state equation:

[0136] (11);

[0137] In equation (11), Let the navigator's position vector be... for Time derivative, The velocity vector of the navigator; Represents the mass matrix, the quality of the leader; the friction vector, , the ground friction coefficient, the norm operator; the actual terrain slope angle; the slope direction unit vector.

[0138] 2, follower tracking error equation:

[0139] (12);

[0140] In formula (12), the tracking error vector of the follower i; the position vector of the follower i; the position vector of the leader; the relative position vector expected by the follower i.

[0141] 3, single machine instantaneous energy consumption optimization:

[0142] (13);

[0143] In formula (13), the instantaneous energy consumption optimization of the follower i; the energy input of the follower i, the self speed of the follower i; the energy consumption coefficients of driving, motion and communication respectively; the communication load of the follower i.

[0144] (4) overall energy consumption optimization of formation:

[0145] (14);

[0146] In formula (14), the energy input of the follower i; the instantaneous energy consumption optimization of the single machine of the follower i; the tracking error vector of the follower i, , the total number of followers.

[0147] The first robot cluster where the first robot is located controls the cluster formation mode in real time during the marching process by relying on the energy power optimization model. The model reduces the loss of the cluster during the marching process by combining gravity dynamics and energy constraints in the conventional leader model. At the same time, when the ant robot is damaged, the role state can be updated and the cluster can be reorganized. The update and reorganization formula is as follows:

[0148] (15);

[0149] in formula (15), is the competence score of the follower i; , , is a weight coefficient; is the remaining energy amount of the follower i; is the maximum energy amount of the follower i; is the position of the follower i, that is, the first robot itself position, is the destination position, is a task execution capability parameter, which is determined by the specific configuration of the first robot, and the simulation can take 1.

[0150] The embodiment of the present application pre-configures the environment perception module, the obstacle avoidance module and the path planning module for the first robot. On the premise that the first robot identifies the dangerous area such as the obstacle area through the environment perception module, the first robot determines the path segmentation point based on at least one dangerous area after each adjustment period, divides the reference path into multiple reference path segments, determines the maximum planning speed of the target path segment according to the terrain risk level of the target path segment in the multiple reference path segments, plans the speed according to the current moving speed of the first robot and the maximum planning speed of the target path segment, determines the current planning speed, and determines the current formation through the path planning module to minimize the cluster energy power. The embodiment of the present application can accurately plan the first robot cluster moving scheme in advance, and further ensures that the first robot cluster can adapt to the work environment and move flexibly and safely.

[0151] In optional embodiments, the plurality of first robots in the first robot cluster include construction robots, and the plurality of second robots include construction robots.

[0152] For example, according to actual business needs, such as a business scenario in which the robot cluster needs to go to a construction site to perform construction, equipment maintenance and terrain detection and other construction tasks, a plurality of construction robots can be selected to establish the first robot cluster, and a plurality of construction robots can be selected to establish the second robot cluster.

[0153] The embodiment of the present application can use the construction robot cluster to autonomously navigate in the work environment, and better meet the construction task execution demand by selecting a plurality of construction robots to establish the first robot cluster and selecting a plurality of construction robots to establish the second robot cluster.

[0154] In order to more clearly illustrate the construction robot cluster autonomous navigation method provided by the first embodiment of the present application, the moving process of the first robot cluster and the second robot cluster using the construction robot cluster autonomous navigation method is as follows:Figures 2-5 as shown.

[0155] The structure of each first robot and each second robot is similar to that of an ant, adopts six-legged walking, and is provided with an environment perception module, an obstacle avoidance module, and a path planning module. The environment perception module includes a SLAM system, a laser radar, a vibration sensor, a visual camera, and a temperature sensor, which are used to collect map information and environment information to provide the path planning module with an initial path. The SLAM system is arranged at the thoracic dorsal plate of the ant robot, the vibration sensor is arranged at the forefoot of the ant robot, the laser radar and the visual camera are arranged at the compound eye of the ant robot, and the temperature sensor is arranged at the antenna of the ant robot.

[0156] As shown in Figure 2 , a second robot cluster composed of three ant robots (see reference numeral 5 in Figure 2 ) sets out for a destination (see reference numeral 1 in Figure 2 ), the second robot cluster detects terrain information (see reference numeral 2 in Figure 2 ) in a ring-shaped outward diffusion manner, and shares the information with a first robot cluster (see reference numeral 4 in Figure 2 ), a chemical fluorescent marker agent (see reference numeral 3 in Figure 2 ) carried by the second robot cluster is used to mark obstacle areas along the way.

[0157] As shown in Figure 3 , after a period of time after the second robot cluster sets out, the first robot cluster (see reference numeral 4 in Figure 2 ) divides an obstacle-dense area (see reference numeral 6 in Figure 3 ) and an obstacle-sparse area (see reference numeral 7 in Figure 3 ) based on the path information shared by the second robot cluster, and comprehensively selects a reference path, an ant robot on the reference path will become a leader (see reference numeral 8 in Figure 3 ) of the first robot cluster to lead the first robot cluster to the destination, and the remaining ant robots in the second robot cluster will go to the destination by themselves.

[0158] As shown in Figure 4 , the first robot cluster adopts a forward-looking avoidance model to calculate an early deceleration point (see reference numeral 10 in Figure 3 ) of the formation based on the current speed of the formation robot, the braking ability, and the position of a predicted obstacle (see reference numeral 9 in Figure 3 ), and will decelerate in advance and change the formation shape when approaching the deceleration point, so as to ensure that the formation robot can safely avoid the obstacle.

[0159] As shown in Figure 5 , the first robot cluster arrives at the destination after avoiding the obstacle.

[0160] Please refer to Figure 6 , Figure 6 A structural schematic diagram of an autonomous navigation device of a construction robot cluster is provided for a second embodiment of the application. The second embodiment of the application provides an autonomous navigation device of a construction robot cluster, which is applied to any first robot in a first robot cluster; the device comprises: a preceding path acquisition unit 201, configured to acquire preceding paths of a plurality of second robots in a second robot cluster; wherein the preceding paths of the plurality of second robots are movement paths of the plurality of second robots from a starting point to a destination respectively, and the preceding paths of the plurality of second robots are different; a reference path selection unit 202, configured to select one of the preceding paths of the plurality of second robots as a reference path, and move along the reference path together with the rest of the first robots in the first robot cluster except the first robot; a navigation movement control unit 203, configured to, in the process of moving along the reference path, determine a current planning speed and a current formation of the first robot cluster according to at least one dangerous area associated with the reference path, and move at the current planning speed and in the current formation to bypass the at least one dangerous area; wherein the at least one dangerous area includes areas marked by the plurality of second robots in the movement process from the starting point to the destination, and the distance of the areas from the reference path satisfies a distance condition.

[0161] In optional embodiments, the acquisition of the preceding paths of the plurality of second robots in the second robot cluster comprises: determining initial paths of the plurality of second robots through path planning based on map information collected by each second robot in the second robot cluster; performing path optimization on the initial paths of the plurality of second robots based on an ant colony algorithm through each second robot, to obtain optimized paths of the plurality of second robots; and adjusting the optimized paths of the plurality of second robots according to current environment information collected by each second robot in the process of moving along the optimized path of each second robot, until the latest adjusted optimized path of each second robot is taken as the preceding path of each second robot after a time length of the movement of each second robot satisfies a time length condition.

[0162] In optional embodiments, the selection of one of the preceding paths of the plurality of second robots as the reference path comprises: for each second robot in the plurality of second robots, evaluating a risk index of the preceding path of the second robot; wherein the risk index is used to indicate the number of dangerous areas associated with the preceding path of the second robot; and selecting the preceding path corresponding to the minimum risk index value from the preceding paths of the plurality of second robots as the reference path.

[0163] In optional embodiments, the first robot is configured with an environment perception module, an obstacle avoidance module, and a path planning module; the at least one dangerous area further includes an obstacle area identified by the environment perception module; the determining of the current planning speed and the current formation of the first robot cluster according to the at least one dangerous area associated with the reference path at regular intervals comprises: performing, by the obstacle avoidance module: upon arrival of each adjustment period, determining a path segmentation point based on the at least one dangerous area, and segmenting the reference path into a plurality of reference path segments; determining a maximum planning speed of a target path segment according to a terrain risk level of the target path segment; wherein the target path segment includes a current reference path segment in which the first robot is currently positioned, and a subsequent reference path segment of the current reference path segment; performing speed planning according to the current moving speed of the first robot and the maximum planning speed of the target path segment to determine the current planning speed; and determining, by the path planning module, the current formation with the goal of minimizing the energy power of the cluster.

[0164] In optional embodiments, the plurality of first robots in the first robot cluster include construction robots, and the plurality of second robots include construction robots.

[0165] The implementation processes of the functions and roles of the various modules in the above apparatus are specifically described in the implementation processes of the corresponding steps in the above method, which will not be described herein.

[0166] Please refer to Figure 7 , Figure 7 This application provides a structural schematic diagram of an autonomous navigation system for a construction robot cluster. The third embodiment of the present application provides an autonomous navigation system for a construction robot cluster, which includes a first robot cluster 301, and the first robot cluster 301 includes a plurality of first robots. Any first robot in the first robot cluster 301 is configured to: obtain the preceding paths of a plurality of second robots in a second robot cluster 302; wherein the preceding paths of the plurality of second robots are the moving paths of the plurality of second robots from the starting points to the destinations, and the preceding paths of the plurality of second robots are different; select one of the preceding paths of the plurality of second robots as a reference path, and move along the reference path together with the rest of the first robots in the first robot cluster 301 except the first robot; during the moving along the reference path, determine the current planning speed and the current formation of the first robot cluster 301 according to the at least one dangerous area associated with the reference path at regular intervals, and move according to the current planning speed and the current formation to bypass the at least one dangerous area; wherein the at least one dangerous area includes an area marked by the plurality of second robots during the moving from the starting points to the destinations, and the distance between the area and the reference path satisfies a distance condition.

[0167] In an optional embodiment, the system further comprises a second robot cluster 302; each second robot in the second robot cluster 302 is configured to: determine an initial path of each second robot according to map information collected by each second robot; perform path optimization on the initial path of each second robot based on an ant colony algorithm to obtain an optimized path of each second robot; and periodically adjust the optimized path of each second robot according to current environment information collected by each second robot in a process of moving along the optimized path of each second robot, until the latest adjusted optimized path of each second robot is taken as a first path of each second robot after a moving time length of each second robot satisfies a time length condition.

[0168] The implementation process of the functions and roles of each robot in the system is specifically described in the implementation process of the corresponding steps in the above method, and will not be described here.

[0169] The fourth embodiment of the present application provides a computer program product, which comprises instructions. When the instructions are executed by a computer, the computer implements the method described in the first embodiment of the present application and achieves the same beneficial effects.

[0170] The method described in the first embodiment of the present application can be implemented by software, hardware, firmware or any combination thereof, in whole or in part. When implemented by software, the computer program or instructions can be implemented in the form of a computer program product in whole or in part. The computer program product comprises one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, a core network device, an OAM (Open Application Model) or other programmable devices.

[0171] The computer program or instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired or wireless mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center and the like integrated with one or more available media. The available media can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; or an optical medium, such as a digital video disc; or a semiconductor medium, such as a solid state disk. The computer readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0172] Please refer to Figure 8 , Figure 8 A structural schematic diagram of an electronic device is provided for the fifth embodiment of the present application. The fifth embodiment of the present application provides an electronic device 40, comprising a processor 401, a memory 402, and a computer program stored in the memory 402 and configured to be executed by the processor 401; the processor 401 implements the method as described in the first embodiment of the present application when executing the computer program, and can achieve the same beneficial effects.

[0173] Wherein, the processor 401 reads the computer program from the memory 402 through the bus 403 and implements the method as described in the first embodiment of the present application when executing the computer program, which can achieve the method of any embodiment included in the method as described in the first embodiment of the present application.

[0174] The processor 401 can process digital signals, and can include various computing structures. For example, a complex instruction set computer structure, a reduced instruction set computer structure, or a structure implementing a combination of multiple instruction sets. In some examples, the processor 401 can be a microprocessor.

[0175] The memory 402 can be used to store instructions executed by the processor 401 or data related to the execution process of the instructions. These instructions and / or data can include code for implementing some or all functions of one or more modules described in the embodiments of the present application. The processor 401 of the embodiments of the present disclosure can be used to execute instructions in the memory 402 to implement the method as described in the first embodiment of the present application. The memory 402 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memories well known to those skilled in the art.

[0176] The sixth embodiment of the present application provides a computer readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the computer readable storage medium controls the device where the computer readable storage medium is located to execute the method as described in the first embodiment of the present application, and can achieve the same beneficial effects.

[0177] In summary, the embodiment of the present application provides a building robot cluster autonomous navigation method, system, program product and equipment, the building robot cluster autonomous navigation method is applied to any first robot in the first robot cluster; the method comprises: obtaining the preceding path of a plurality of second robots in a second robot cluster; wherein the preceding path of the plurality of second robots is the moving path of each of the plurality of second robots from the starting point to the destination, and the preceding path of the plurality of second robots is different; selecting one of the preceding path of the plurality of second robots as a reference path, and moving along the reference path with the rest of the first robots in the first robot cluster except the first robot; during the movement along the reference path, determining the current planning speed and the current formation of the first robot cluster according to at least one dangerous area associated with the reference path, and moving at the current planning speed and the current formation to bypass the at least one dangerous area; wherein the at least one dangerous area includes the area marked by the plurality of second robots during the movement from the starting point to the destination, and the distance from the reference path meets the distance condition. The embodiment of the present application can utilize the second robot cluster to find a plurality of feasible paths for moving from the starting point to the destination and mark the areas along the way, and comprehensively plan the moving scheme of the first robot cluster based on these information, so as to realize the autonomous navigation of the first robot cluster and ensure that the first robot cluster can adapt to the working environment and move flexibly and safely.

[0178] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those described in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0179] In addition, the functional modules in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0180] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes a number of instructions for causing 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 methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0181] The above merely provides specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for autonomous navigation of a swarm of construction robots, characterized in that, Any first robot applied in the first robot cluster; the method comprises: Obtaining the preceding paths of a plurality of second robots in a second robot cluster; wherein the preceding paths of the plurality of second robots are the moving paths of the plurality of second robots respectively from a starting place to a destination, and the preceding paths of the plurality of second robots are not identical; Selecting one of the preceding paths of the plurality of second robots as a reference path, and moving along the reference path with the rest of the first robots in the first robot cluster except the first robot; During the movement along the reference path, determining the current planning speed and the current formation of the first robot cluster according to at least one dangerous area associated with the reference path, and moving at the current planning speed and in the current formation to bypass the at least one dangerous area; wherein the at least one dangerous area includes areas marked by the plurality of second robots during the movement from the starting place to the destination, and the distances from the reference path of the areas satisfy a distance condition; The first robot is configured with an environment perception module, an obstacle avoidance module and a path planning module; the at least one dangerous area further includes an obstacle area identified by the environment perception module; the determination of the current planning speed and the current formation of the first robot cluster according to the at least one dangerous area associated with the reference path comprises: based on the at least one dangerous area, determining a path segmentation point at the arrival of each adjustment period, and segmenting the reference path into a plurality of reference path segments; determining the maximum planning speed of a target path segment according to the terrain risk level of the target path segment; wherein the target path segment includes the current reference path segment where the first robot is currently positioned and the subsequent reference path segment of the current reference path segment; performing speed planning according to the current moving speed of the first robot and the maximum planning speed of the target path segment to determine the current planning speed; and determining the current formation by the path planning module to minimize the energy power of the cluster.

2. The method of claim 1, wherein, The obtaining of the preceding paths of the plurality of second robots in the second robot cluster comprises: By each second robot in the second robot cluster, determining an initial path of the each second robot according to map information collected by the each second robot; By the each second robot, performing path optimization on the initial path of the each second robot based on an ant colony algorithm to obtain an optimized path of the each second robot; By the each second robot, during the movement along the optimized path of the each second robot, adjusting the optimized path of the each second robot according to current environment information collected by the each second robot, until the latest adjusted optimized path of the each second robot is taken as the preceding path of the each second robot after the moving time length of the each second robot satisfies a time length condition.

3. The method of claim 1, wherein, The selecting one of the preceding paths of the plurality of second robots as a reference path comprises: For each of the plurality of second robots, evaluating a risk index of the preceding path of the second robot, wherein the risk index is used to indicate a number of dangerous areas associated with the preceding path of the second robot; Selecting the preceding path corresponding to the minimum risk index value from the preceding paths of the plurality of second robots as the reference path.

4. The method according to any one of claims 1 to 3, characterized in that, The plurality of first robots in the first robot cluster comprises construction robots, and the plurality of second robots comprises construction robots.

5. A construction robot swarm autonomous navigation system characterized by, The system further comprises a first robot cluster comprising a plurality of first robots; Any first robot in the first robot cluster is configured to: Obtain preceding paths of a plurality of second robots in a second robot cluster, wherein the preceding paths of the plurality of second robots are movement paths of the plurality of second robots from a starting location to a destination, and the preceding paths of the plurality of second robots are different; Select one of the preceding paths of the plurality of second robots as a reference path, and move along the reference path together with the rest of the first robots in the first robot cluster except the first robot; During the movement along the reference path, periodically determine a current planning speed and a current formation of the first robot cluster according to at least one dangerous area associated with the reference path, and move at the current planning speed and the current formation to bypass the at least one dangerous area, wherein the at least one dangerous area comprises areas marked by the plurality of second robots during the movement from the starting location to the destination, and distances of the areas from the reference path satisfy a distance condition; the first robot is configured with an environment perception module, an obstacle avoidance module, and a path planning module; the at least one dangerous area further comprises an obstacle area identified by the environment perception module; the periodically determining the current planning speed and the current formation of the first robot cluster according to the at least one dangerous area associated with the reference path comprises: based on the at least one dangerous area, determining a path segmentation point and segmenting the reference path into a plurality of reference path segments by the obstacle avoidance module after each adjustment period; determining a maximum planning speed of a target path segment according to a terrain risk level of the target path segment, wherein the target path segment comprises a current reference path segment in which the first robot is currently positioned and a subsequent reference path segment of the current reference path segment; determining the current planning speed by speed planning based on a current movement speed of the first robot and the maximum planning speed of the target path segment; and determining the current formation by the path planning module to minimize cluster energy power.

6. The system of claim 5, wherein, The system further comprises a second robot cluster; Each second robot in the second robot cluster is configured to: Determine an initial path of the each second robot according to path planning based on map information collected by the each second robot; perform path optimization on the initial path of each second robot based on an ant colony algorithm to obtain an optimized path of each second robot; In the process of moving along the optimized path of each second robot, periodically re-planning the optimized path of each second robot according to the current environment information collected by each second robot until the latest optimized path of each second robot is taken as the first path of each second robot after the moving time length of each second robot meets the time length condition.

7. A computer program product, characterised in that, The computer program product comprises instructions which, when executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 4.

8. An electronic device, comprising: The computer program product comprises instructions which, when executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that, The computer program product comprises instructions which, when executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 4.

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