Task processing methods and devices for multiple robots, and robots

Abstract

The present disclosure relates to a task processing method and device for multiple robots, and the robot. The task processing method includes the steps of: identifying at least one robot among the multiple robots as a cutting robot when it is detected that the heartbeat connection between at least one robot and the task processing device is lost; obtaining a past position of the cutting robot and a current position of a connecting robot among the multiple robots; for the cutting robot, determining a target sending robot corresponding to the cutting robot among the multiple robots according to the past position of the cutting robot and the current position of the connecting robot; and sending task information of the current task of the cutting robot to the cutting robot through the target sending robot.

Description

Technical Field

[0001] Cross - reference to related applications This application is based on Chinese Patent Application No. 202111061331.2 filed on September 10, 2021, claims the benefit of its priority, and the whole of it is incorporated herein by reference.

[0002] This disclosure relates to the field of computer technology, and in particular, to task - processing methods, devices and systems for multiple robots, robots, and computer storage media.

Background Art

[0003] A robot refers to a mechanical device that automatically executes a series of complex operations or functions by receiving instructions according to a pre - set program. A logistics robot refers to a robot applied to operations such as the conveyance and handling of goods in scenarios such as warehouses, sorting centers, and goods in transit. Logistics robots are also gradually regarded as an important intelligent infrastructure for logistics and supply - chain related enterprises in the process of digitalization and automation.

[0004] In related technologies, in order to maintain a heartbeat connection with the console, a robot periodically reports its position to the console through a WIFI network, and the console transmits task information of the current task corresponding to each robot to each robot through the WIFI network.

Summary of the Invention

Means for Solving the Problems

[0005] A first aspect of the present disclosure provides a task processing method for a plurality of robots. The method is performed by a task processing device, and both the task processing device and the plurality of robots are deployed using a first communication module configured to perform bidirectional communication between the plurality of robots and the task processing device, the plurality of robots further including a second communication module configured to perform bidirectional communication between the plurality of robots, the task processing method includes the steps of: identifying at least one robot as a disconnected robot when it is detected that a heartbeat connection between at least one robot and the task processing device has been lost; obtaining the past position of the disconnected robot and the current position of a connected robot among the plurality of robots, wherein the connected robot is a robot that maintains a heartbeat connection with the task processing device; determining a target transmitting robot from among the plurality of robots that corresponds to the disconnected robot, according to the past position of the disconnected robot and the current position of the connected robot, wherein the target transmitting robot includes a connected robot; and transmitting task information for the current task of the disconnected robot to the disconnected robot through the target transmitting robot.

[0006] In some embodiments, the step of determining a target transmitting robot corresponding to a cutting robot from a plurality of robots includes the steps of: obtaining the past position of a cutting robot other than the cutting robot if the distance between the current position of the connecting robot and the past position of the cutting robot is greater than a distance threshold; determining another cutting robot as a candidate cutting robot whose past position is less than or equal to the distance threshold from the past position of the cutting robot, according to the past position of the other robot; determining a connecting robot as a candidate connecting robot whose current position is less than or equal to the distance threshold from the past position of the candidate cutting robot, according to the past position of the candidate cutting robot and the current position of the connecting robot; and determining a target cutting robot and a target connecting robot corresponding to the cutting robot as target transmitting robots, respectively, from the candidate cutting robots and candidate connecting robots.

[0007] In some embodiments, the step of transmitting task information of the cutting robot's current task to the cutting robot via the target transmitting robot includes the step of sequentially transmitting task information of the current task to the cutting robot via the target connecting robot and the target cutting robot.

[0008] In some embodiments, the task processing method further includes the step of transmitting task information of the target cutting robot's current task to the target cutting robot via the target connecting robot.

[0009] In some embodiments, the task processing method further includes the steps of: determining a target receiving robot from among a plurality of robots that corresponds to a cutting robot, wherein the target receiving robot is configured to receive the results of the execution of the current task transmitted from the cutting robot through a second communication module; and receiving the results of the execution of the current task through the target receiving robot, wherein the target receiving robot includes a connecting robot.

[0010] In some embodiments, the step of receiving the result of the execution of the current task by the target receiving robot includes, if the target receiving robot includes only a connecting robot, the step of receiving the result of the execution of the current task transmitted from the target receiving robot, and if the target receiving robot includes a cutting robot and a connecting robot, the step of sequentially receiving the result of the execution of the current task through the cutting robot and the connecting robot of the target receiving robot.

[0011] In some embodiments, the target receiving robot and the target transmitting robot are exactly the same, partially the same, or completely different.

[0012] In some embodiments, the step of determining a target transmitting robot corresponding to a cutting robot from among a plurality of robots includes determining a target transmitting robot corresponding to a cutting robot from at least one connected robot if the distance between the current position of at least one connected robot and the past position of the cutting robot is less than or equal to a distance threshold.

[0013] In some embodiments, the step of determining a target transmitting robot corresponding to a cutting robot from at least one connecting robot includes determining the connecting robot whose current position is the shortest distance from at least one connecting robot to the past position of the cutting robot as the target transmitting robot corresponding to the cutting robot.

[0014] In some embodiments, the difference between the wireless propagation distance of the second communication module and the wireless propagation distance of the first communication module is greater than a threshold difference under the same power consumption, and the difference and the threshold difference are positive integers.

[0015] In some embodiments, the current task is a follow task, and a second communication module is further configured to exchange real-time motion parameters, position, and road condition information among multiple robots performing the follow task.

[0016] In some embodiments, the motion parameters include at least one of velocity, acceleration, or direction.

[0017] In some embodiments, the first communication module is a Wi-Fi module, and the second communication module is a long-range wireless LORA module.

[0018] A second aspect of the present disclosure provides a task processing device for a plurality of robots, both of which are deployed using a first communication module configured to perform bidirectional communication between the plurality of robots and the task processing device, the plurality of robots further including a second communication module configured to perform bidirectional communication between the plurality of robots, the task processing device including an identification module configured to identify at least one of the plurality of robots as a severing robot when it is detected that a heartbeat connection between at least one robot and the task processing device has been lost; an acquisition module configured to acquire the past position of the severing robot and the current position of a connecting robot among the plurality of robots, wherein the connecting robot is a robot that maintains a heartbeat connection with the task processing device; a determination module configured to determine a target transmitting robot corresponding to the severing robot from among the plurality of robots according to the past position of the severing robot and the current position of the connecting robot, wherein the target transmitting robot includes a connecting robot; and a transmission module configured to transmit task information for the current task of the severing robot to the severing robot via the target transmitting robot.

[0019] A third aspect of the present disclosure provides a task processing method for a plurality of robots. The method includes a first communication module and a second communication module, the first communication module being configured to perform bidirectional communication between the plurality of robots and the first communication module of a task processing device, the second communication module being configured to perform bidirectional communication between the plurality of robots, the task processing method being performed by one of the plurality of robots, the task processing method receiving task information for the current task of a cutting robot transmitted from the task processing device through the first communication module, and transmitting the task information for the current task of a cutting robot to the cutting robot through the second communication module, provided that the heartbeat connection between the robot and the task processing device has not been lost and the robot has been determined to be the target transmitting robot corresponding to the cutting robot, the cutting robot is task processing The robot is one whose heartbeat connection with Vice has been lost; if the heartbeat connection between the robot and the task processing device has been lost, the robot receives task information for the robot's current task transmitted through a second communication module from a target transmitting robot corresponding to the robot, wherein the target transmitting robot includes a connecting robot; and if the heartbeat connection between the robot and the task processing device has been lost and the robot is determined to be a target transmitting robot corresponding to another cutting robot, the robot receives task information for the current task of another cutting robot transmitted through a second communication module from another target transmitting robot, wherein the other target transmitting robot includes a connecting robot.

[0020] In some embodiments, the target transmitting robot includes at least one robot that is at a distance below a distance threshold from the corresponding cutting robot, and if there are multiple target transmitting robots, the serial path formed by the multiple target transmitting robots includes a serial path where the distance between any two adjacent target transmitting robots is below a distance threshold.

[0021] A fourth aspect of this disclosure provides a robot. The robot includes a first communication module configured to perform bidirectional communication with a first communication module of a task processing device, and a second communication module configured to perform bidirectional communication with a second communication module of another robot, wherein task information for the current task of the cutting robot is received from the task processing device through the first communication module, and the heartbeat connection between the robot and the task processing device is not lost, and the robot is determined to be the target transmitting robot corresponding to the cutting robot, the task information for the current task of the cutting robot is transmitted to the cutting robot through the second communication module, and the cutting robot is not affected by the loss of the heartbeat connection with the task processing device. The task information for the robot's current task, transmitted from the target transmitting robot corresponding to the robot, is received through a second communication module, and the target transmitting robot includes a connected robot if the heartbeat connection between the robot and the task processing device is lost, and if the heartbeat connection between the robot and the task processing device is lost and the robot is determined to be the target transmitting robot corresponding to another cutting robot, the task information for the current task of another cutting robot transmitted from the other target transmitting robot is received through the second communication module, the task information for the current task of the other cutting robot is transmitted to the other cutting robot, and the other target transmitting robot includes a connected robot.

[0022] In some embodiments, the target transmitting robot includes at least one robot that is at a distance below a distance threshold from the corresponding cutting robot, and if there are multiple target transmitting robots, the serial path formed by the multiple target transmitting robots includes a serial path where the distance between any two adjacent target transmitting robots is below a distance threshold.

[0023] According to a fifth aspect of the present disclosure, an electronic device is provided. The device includes a memory and a processor coupled to the memory, and the processor is configured to execute a task processing method according to any of the above-described embodiments based on instructions stored in the memory.

[0024] According to a sixth aspect of the present disclosure, a task processing system for a plurality of robots is provided. The system includes a task processing device according to any of the above-described embodiments.

[0025] In some embodiments, the task processing system further includes a target sending robot configured to receive task information of the current task of the disconnecting robot from the task processing device through a first communication module and transmit the task information of the current task to the disconnecting robot through a second communication module.

[0026] According to a seventh aspect of the present disclosure, a computer-readable medium is provided. The medium stores computer program instructions that, when executed by a processor, implement a task processing method according to any of the above-described embodiments.

[0027] The accompanying drawings, which form a part of this specification, illustrate embodiments of the present disclosure and are useful for explaining the principles of the present disclosure together with the specification.

[0028] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings. <000009​​​​​​​​​​​​This is a schematic diagram showing the positions of multiple robots according to some embodiments of the present disclosure. [Figure 4] This is a schematic diagram showing the positions of multiple robots according to other embodiments of the present disclosure. [Figure 5] This is a block diagram showing a task processing device for multiple robots according to some embodiments of the present disclosure. [Figure 6] This is a schematic diagram showing the structure of a robot according to some embodiments of the present disclosure. [Figure 7] Block diagram of an electronic device according to some embodiments of the present disclosure. [Figure 8] This is a block diagram showing a task processing system for multiple robots according to some embodiments of the present disclosure. [Figure 9] A computer system block for implementing some embodiments of the present disclosure is provided. [Modes for carrying out the invention]

[0030] Next, various exemplary embodiments of this disclosure will be described in detail with reference to the attached drawings. Note that the relative arrangements of components and steps, formulas, and numerical values ​​described in these examples are not intended to limit the scope of this disclosure unless otherwise specified.

[0031] At the same time, for the sake of clarity, please understand that the dimensions of the various parts shown in the attached drawings are not drawn according to actual proportional relationships.

[0032] The following description of at least one exemplary embodiment, which is in fact merely illustrative, is not intended to limit the present disclosure or its applications or uses.

[0033] Techniques, methods, and devices known to general engineers of the related technologies may not be described in detail, but where necessary, they should be considered as part of the description.

[0034] Any specific values ​​in all examples shown and described herein should be construed as illustrative only and not limiting. Therefore, other examples in the exemplary embodiments may have different values.

[0035] In the following attached drawings, similar reference numerals and letters indicate the same items; therefore, it should be noted that once an item is defined in one attached drawing, it is necessary to discuss the same item further in subsequent attached drawings.

[0036] In conventional technology, Wi-Fi networks are unstable, and once the robot loses communication, the console cannot send task information for the current task to the robot via the Wi-Fi network. As a result, the robot's task processing process becomes discontinuous, and the success rate of task processing decreases.

[0037] In response to the aforementioned technical challenges, this disclosure provides a task processing method that may enable the continuity of task processing by robots and improve the success rate of task processing.

[0038] Figure 1 is a flowchart illustrating a task processing method for multiple robots according to several embodiments of the present disclosure. The task processing method is performed by a task processing device. The task processing device and the multiple robots are all deployed using a first communication module for bidirectional communication between the robots and the task processing device. The multiple robots also include a second communication module for bidirectional communication between the robots. For example, the task processing device is a console. For example, the robots are logistics robots or logistics carts.

[0039] As shown in Figure 1, the task processing method based on multiple robots includes steps S10 to S40.

[0040] In step S10, if it is detected that the heartbeat connection between at least one robot and the task processing device has been lost, at least one robot is marked as a disconnected robot. The heartbeat connections in this disclosure are all heartbeat connections based on the first communication module. In some embodiments, if the task processing device does not receive a heartbeat message from a robot for a predetermined period of time, it is determined that the heartbeat connection between the robot and the task processing device has been lost. For example, the predetermined period is 500 milliseconds.

[0041] In step S20, the past position of the cutting robot and the current position of the connected robot among several robots are obtained. The connected robot is the robot that maintains a heartbeat connection with the task processing device. For example, the task processing device obtains from a database the past position of the cutting robot that was last reported before the connection was lost. In some embodiments, the real-time position of the connected robot is obtained as the current position based on heartbeat messages. For example, the task processing device receives heartbeat messages through a first communication module.

[0042] In Step S30, in the case of a cutting robot, a target transmitting robot corresponding to the cutting robot is determined from among multiple robots according to the past position of the cutting robot and the current position of the connecting robot. The target transmitting robot includes the connecting robot.

[0043] In some embodiments, step S30 described above can be achieved by the steps shown in Figure 2.

[0044] Figure 2 is a flowchart showing the determination of the target transmitting robot according to some embodiments of the present disclosure.

[0045] As shown in Figure 2, the determination of the target transmitting robot includes steps S31 to S34.

[0046] In step S31, if the distance between the current position of the connecting robot and the past position of the cutting robot is greater than a distance threshold, the past position of another cutting robot is obtained. In some embodiments, the past position of another cutting robot, which was last reported based on the heartbeat message, is obtained from the database.

[0047] In Step S32, based on the past position of another cutting robot, another cutting robot whose past position is less than or equal to a distance threshold from the past position of the cutting robot is determined as a candidate cutting robot.

[0048] In step S33, based on the past position of the candidate cutting robot and the current position of the connecting robot, connecting robots whose current position is less than or equal to a distance threshold from the past position of the candidate cutting robot are determined as candidate connecting robots.

[0049] In Step S34, the target cutting robot and target connecting robot corresponding to the cutting robot are determined from the candidate cutting robots and candidate connecting robots, respectively, as target transmitting robots. In some embodiments, all candidate cutting robots and candidate connecting robots may be determined as target cutting robots and target connecting robots, respectively. In other embodiments, the candidate cutting robot closest to the cutting robot may also function as the target cutting robot, and the candidate connecting robot closest to the target cutting robot may function as the target connecting robot.

[0050] In the embodiments described above, if broadcast rescue cannot be performed by a single connected robot, the current task can be transferred by combining it with a disconnected robot to ensure task continuity and improve the success rate of task processing.

[0051] A specific embodiment in which the distance between the current position of the connecting robot and the past position of the cutting robot is greater than a distance threshold is described in detail below with reference to Figure 3.

[0052] Figure 3 is a schematic diagram showing the positions of multiple robots according to some embodiments of the present disclosure.

[0053] As shown in Figure 3, at a given moment, robots "0", "a", and "b" that have lost contact become disconnected robots. Robots "A", "B", and "C" are all connected robots. In the case of robot "0", the distance from robots "a" and "b" to robot "0" is all below the distance threshold, but the distance from robots "A", "B", and "C" to robot "0" is all above the distance threshold. The distance from robots "a" and "b" to robot "A" is below the distance threshold, but the distance from robots "a" and "b" to robots B and C is above the distance threshold. In this case, robots "a" and "b" are selected as candidate disconnected robots, and robot "A" is selected as a candidate connected robot.

[0054] For example, of robots "a" and "b", robot "a" closest to robot "0" may be considered the target cutting robot. Robot "A" functions as the target connecting robot. Robots "a" and "A" function as target transmitting robots.

[0055] In some embodiments, if the distance between the current position of at least one connected robot and the past position of the cutting robot is less than or equal to a distance threshold, the target transmitting robot corresponding to the cutting robot is determined from at least one connected robot. For example, among the at least one connected robot, the one whose current position is the shortest distance from the past position of the cutting robot is determined to be the target transmitting robot corresponding to the cutting robot.

[0056] A specific embodiment in which the distance between the current position of at least one connecting robot and the past position of the cutting robot is less than or equal to a distance threshold is described in detail below with reference to Figure 4.

[0057] Figure 4 is a schematic diagram showing the positions of multiple robots according to another embodiment of the present disclosure.

[0058] As shown in Figure 4, at a certain moment, robot "0" loses contact, and robots D, E, and F all become connected robots. In the case of robot "0", the distance from robots D and E to robot "0" is below the distance threshold, but the distance from robot F to robot "0" exceeds the distance threshold.

[0059] For example, between robots D and E, robot D is closer to robot "0", so robot D is selected as the target transmitting robot.

[0060] Returning to Figure 1, in step S40, task information for the cutting robot's current task is transmitted to the cutting robot by the target transmitting robot. In some embodiments, the task information includes an identifier for the robot performing the current task and the task details.

[0061] In some embodiments, if the target transmitting robot includes a cutting robot and a connecting robot, the task information for the current task is sequentially transmitted to the cutting robot through the target connecting robot and the target cutting robot.

[0062] Taking Figure 3 as an example, the task processing device transmits task information for the current task of robot "0" to robot "A" via the first communication module. After receiving the task information for the current task via the first communication module, robot "A" confirms that the robot identifier in the task information for the current task does not belong to robot A, and then transmits the task information for the current task to robot "a" via the second communication module. Similarly, after receiving the task information for the current task via the second communication module, robot "a" confirms that the robot identifier in the task information for the current task does not belong to robot "a," and then transmits the task information for the current task to robot "0" via the second communication module. Up to this point, the task processing device has sequentially transmitted the task information for the current task of robot "0" to robot "0," robot "A," and robot "a."

[0063] In some embodiments, if the target transmitting robot includes only connecting robots, the task information for the current task is transmitted directly to the disconnecting robot through the connecting robot among the target transmitting robots.

[0064] Taking Figure 4 as an example, the task processing device transmits task information for the current task of robot "0" to robot D through the first communication module. After receiving the task information for the current task through the first communication module, robot D confirms that the robot identifier in the task information for the current task does not belong to robot D, and then transmits the task information for the current task to robot "0" through the second communication module.

[0065] In some embodiments, if the target transmitting robot includes a cutting robot and a connecting robot, the task processing device also transmits task information of the target cutting robot's current task to the target cutting robot via the target connecting robot. For example, the target processing device transmits task information of the target cutting robot's current task to the target connecting robot via a first communication module, and the target connecting robot then transmits task information of the target cutting robot's current task to the target cutting robot via a second communication module. In this way, the current tasks of multiple cutting robots are transmitted to the corresponding cutting robots, thereby improving the efficiency of task handover by the task processing device and further enhancing the continuity of task processing.

[0066] In some embodiments, under the same power consumption, the difference between the wireless propagation distance of the second communication module and the wireless propagation distance of the first communication module is greater than a difference threshold, and the difference and the difference threshold are positive integers. That is, the wireless propagation distance of the second communication module is longer than the wireless propagation distance of the first communication module. For example, the first communication module is a WIFI module and the second communication module is a LORA (Long Range Wireless) module.

[0067] In some embodiments, if the current task is a follow task, a second communication module is also configured to exchange real-time motion parameters, position, and road condition information between robots performing the follow task. For example, motion parameters include at least one of velocity, acceleration, or direction of motion. A second communication module with a longer wireless transmission range performs data transmission for the follow task, improving the success rate of the follow task and ensuring safe operation between robots.

[0068] In some embodiments, after task information for the cutting robot's current task is transmitted to the cutting robot, a target receiving robot corresponding to the cutting robot is determined from among several robots within a specified time. The result of the current task is received through the target receiving robot. The target receiving robot includes a connected robot. The target receiving robot is configured to receive the result of the current task transmitted from the cutting robot through a second communication module. For example, the specified time is the average time it takes for the cutting robot to perform a task similar to the current task within a past time period.

[0069] In some embodiments, determining the target receiving robot corresponding to the cutting robot from among multiple robots is similar to determining the target transmitting robot, and therefore will not be described in detail here. In particular, once the target receiving robot is determined, the current position of the connecting robot and the past position of the cutting robot at that point in time are obtained again.

[0070] In some embodiments, if all target receiving robots are connected robots, the execution result of the current task transmitted from the target receiving robot is received. If the target receiving robot includes both cutting robots and connected robots, the execution result of the current task is received sequentially through the cutting robots and connected robots in the target receiving robot.

[0071] In other words, the cutting robot transmits the result of the current task execution to the second communication module of the cutting robot in the target receiving robot via the second communication module, the cutting robot in the target receiving robot then transmits it to the second communication module of the connecting robot in the target receiving robot via the second communication module, and the connecting robot in the target receiving robot then transmits it to the task processing device via the first communication module.

[0072] For example, in addition to transferring the results of the current task, the target receiving robot may also transfer information such as the cutting robot's heartbeat, current position, and motion parameter information.

[0073] In some embodiments, the target receiving robot and the target transmitting robot are exactly the same, partially the same, or completely different. For example, the target transmitting robots may be robots 1, 2, and 3, and the target receiving robots may be robots 1, 2, and 3, robots 2, 3, and 4, as well as robots 4, 5, and 6.

[0074] In some embodiments, the task processing device also periodically monitors whether the heartbeat connection of the cutting robot is resumed, and if the heartbeat connection of the cutting robot is resumed, the cutting robot is identified again as a connected robot, and task information is sent to the robot through the first communication module.

[0075] In the above-described embodiment, the robot is deployed using a first communication module for bidirectional communication with a task processing device, and also using a second communication module for bidirectional communication with other robots. If the task processing device is unable to transmit task information for the current task because the first communication module is unavailable, the connected robot can function as an intermediary device to transmit task information for the current task to the corresponding disconnecting robot. This ensures the continuity of task processing by the robot and improves the success rate of task processing.

[0076] Figure 5 is a block diagram showing a task processing device for multiple robots according to several embodiments of the present disclosure. The task processing device and the multiple robots are all deployed using a first communication module for bidirectional communication between the robots and the task processing device. The multiple robots also include a second communication module for bidirectional communication between the robots.

[0077] As shown in Figure 5, the task processing device 51 for multiple robots includes an identifier module 511, an acquisition module 512, a decision module 513, and a transmission module 514.

[0078] The identification module 511 is configured to identify at least one robot as a cutting robot if it detects that the heartbeat connection between at least one robot and the task processing device has been lost. For example, step S10 is performed as shown in Figure 1.

[0079] The acquisition module 512 is configured to acquire the past position of the cutting robot and the current position of the connected robot among the multiple robots. For example, step S20 is performed as shown in Figure 1. The connected robot is the robot that maintains a heartbeat connection with the task processing device.

[0080] The determination module 513 is configured to determine a target transmitting robot corresponding to the cutting robot from among multiple robots, according to the past position of the cutting robot and the current position of the connecting robot. For example, step S30 is performed as shown in Figure 1. The target transmitting robot includes the connecting robot.

[0081] The transmission module 514 is configured to transmit task information of the cutting robot's current task to the cutting robot via the target transmission robot. For example, step S40 is performed as shown in Figure 1.

[0082] In some embodiments, the disclosure also provides a task processing method for a plurality of robots performed by the robot. The plurality of robots includes a first communication module and a second communication module. The first communication module is configured to perform bidirectional communication between the plurality of robots and the first communication module of the task processing device. The second communication module is configured to perform bidirectional communication between the plurality of robots. For example, the first communication module is a WIFI module and the second communication module is a LORA module.

[0083] If the heartbeat connection between the robot and the task processing device is not lost, and the robot is determined to be the target transmitting robot corresponding to the cutting robot, the task information for the cutting robot's current task, transmitted from the task processing device, is received through the first communication module, and the received task information is transmitted to the cutting robot through the second communication module. The cutting robot is the robot that has lost its heartbeat connection with the task processing device.

[0084] If the heartbeat connection between the robot and the task processing device is lost, task information for the robot's current task, transmitted from the target transmitting robot corresponding to the robot, is received through a second communication module. The target transmitting robot includes the connected robot.

[0085] If the heartbeat connection between the robot and the task processing device is lost, and the robot is determined to be one of the target transmitting robots corresponding to another cutting robot other than its own, the second communication module receives task information for the current task of the other cutting robot transmitted from the other target transmitting robot and transmits the received task information to the other cutting robot. The other target transmitting robots include the connecting robot.

[0086] In some embodiments, if the heartbeat connection between the robot and the task processing device is not lost and the robot has not been determined to be the target transmitting robot corresponding to the cutting robot, task information for the robot's current task transmitted from the task processing device is received through the first communication module. In some embodiments, the robot also performs its own received current task.

[0087] In some embodiments, a target transmitting robot includes at least one robot located at a distance less than or equal to a distance threshold from the corresponding cutting robot. If multiple target transmitting robots exist, a series path composed of multiple target transmitting robots includes a series path where the distance between any two adjacent target transmitting robots is less than or equal to a distance threshold. When the distance between robots is calculated, the cutting robot uses its past position, and the connecting robot uses its current position. A series path refers to the series path in which the robots are located.

[0088] In the above-described embodiment, the robot is deployed using a first communication module for bidirectional communication with the task processing device, and also using a second communication module for bidirectional communication with other robots, so that the robot can receive task information under different conditions. In particular, if the first communication module is unavailable because the robot is unable to communicate, the task processing device cannot transmit task information for the current task to the cutting robot, and the robot can function as a target transmitting robot for the cutting robot and transfer task information for the current task to the corresponding cutting robot. This ensures the continuity of task processing by the robot and improves the success rate of task processing. The logic of the target receiving robot is the same as the logic of the target transmitting robot.

[0089] Figure 6 is a schematic diagram showing the structure of a robot according to several embodiments of the present disclosure.

[0090] As shown in Figure 6, the robot 62 includes a first communication module 621 and a second communication module 622.

[0091] The first communication module 621 is configured to perform bidirectional communication with the first communication module of the task processing device. For example, the task processing device is a console or a controller.

[0092] The second communication module 622 is configured to perform bidirectional communication with the second communication module of another robot.

[0093] If the heartbeat connection between the robot and the task processing device is not lost, and the robot is determined to be the target transmitting robot corresponding to the cutting robot, the task information for the cutting robot's current task, transmitted from the task processing device, is received through the first communication module, and the received task information is transmitted to the cutting robot through the second communication module. The cutting robot is the robot that has lost its heartbeat connection with the task processing device.

[0094] If the heartbeat connection between the robot and the task processing device is lost, task information for the robot's current task, transmitted from the target transmitting robot corresponding to the robot, is received through a second communication module. The target transmitting robot includes the connected robot.

[0095] If the heartbeat connection between the robot and the task processing device is lost, and the robot is determined to be one of the target transmitting robots corresponding to another cutting robot other than its own, the second communication module receives task information for the current task of the other cutting robot transmitted from the other target transmitting robot and transmits the current task of the other cutting robot to the other cutting robot. The other target transmitting robots include the connecting robot.

[0096] In some embodiments, if the heartbeat connection between the robot and the task processing device is not lost and the robot has not been determined to be the target transmitting robot corresponding to the cutting robot, task information for the robot's current task transmitted from the task processing device is received through the first communication module. In some embodiments, the robot also performs its own received current task.

[0097] In some embodiments, the target transmitting robot includes at least one robot that is at a distance less than or equal to a distance threshold from the corresponding cutting robot. If there are multiple target transmitting robots, the serial path formed by the multiple target transmitting robots includes a serial path where the distance between any two adjacent target transmitting robots is less than or equal to a distance threshold. When the distance between robots is calculated, the cutting robot uses its past position, and the connecting robot uses its current position.

[0098] In the above-described embodiment, the robot is deployed using a first communication module for bidirectional communication with the task processing device, and also using a second communication module for bidirectional communication with other robots, so that the robot can receive task information under different conditions. In particular, if the first communication module is unavailable because the robot is unable to communicate, the task processing device cannot transmit task information for the current task to the cutting robot, and the robot functions as a target transmitting robot for the cutting robot, transferring task information for the current task to the corresponding cutting robot. This ensures the continuity of task processing by the robot and improves the success rate of task processing.

[0099] Figure 7 is a block diagram showing an electronic device according to some embodiments of the present disclosure.

[0100] As shown in Figure 7, the electronic device 71 includes a memory 711 and a processor 712 coupled to the memory 711. The memory 711 is configured to store instructions for executing corresponding embodiments of task processing methods for multiple robots. The processor 712 is configured to execute task processing methods for multiple robots according to any embodiment of the present disclosure based on the instructions stored in the memory 711.

[0101] Figure 8 is a block diagram showing a task processing system for multiple robots according to some embodiments of the present disclosure.

[0102] As shown in Figure 8, the task processing system 8 includes a task processing device 81. The task processing device 81 is, for example, a task processing device 51.

[0103] In some embodiments, the task processing system 8 further includes a target transmitting robot 82. The target transmitting robot 82 is configured to receive task information for the current task of the cutting robot from the task processing device via a first communication module and to transmit task information for the current task to the cutting robot via a second communication module. For example, the target transmitting robot 82 includes one or more robots.

[0104] In some embodiments, the task processing system 8 further includes a target receiving robot 83. The target receiving robot 83 is configured to receive the results of the current task transmitted from the cutting robot via a second communication module and to transmit the results of the current task to the task processing device 81 via a first communication module. For example, the target receiving robot 83 includes one or more robots.

[0105] Figure 9 is a block diagram showing a computer system for implementing some embodiments of the present disclosure.

[0106] As shown in Figure 9, the computer system 90 can be implemented in the form of a general-purpose computing device. The computer system 90 includes memory 910, a processor 920, and a bus 900 for connecting different system components.

[0107] Memory 910 may include, for example, system memory, non-volatile storage media, etc. System memory stores, for example, the operating system, applications, boot loader, and other programs. System memory may include volatile storage media, for example, random access memory (RAM) and / or cache memory. Non-volatile storage media stores, for example, instructions for executing corresponding embodiments of at least one task processing method for multiple robots. Non-volatile storage media include, but are not limited to, disk memory, optical memory, flash memory, etc.

[0108] The processor 920 can be implemented as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, and as individual hardware components such as individual gates or transistors. Similarly, each module, such as the decision module and judgment module, can be implemented by a central processing unit (CPU) that executes instructions in memory to perform the corresponding step, or by application-specific circuitry to perform the corresponding step.

[0109] Bus 900 may use any of several bus structures. For example, the bus structures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Microchannel Architecture (MCA) bus, and the Peripheral Component Interconnect (PCI) bus.

[0110] The computer system 90 may further include an I / O interface 930, a network interface 940, a storage interface 950, and the like. These interfaces 930, 940, 950, as well as the memory 910 and processor 920 between them, may be connected via a bus 900. The I / O interface 930 may provide connection interfaces for input / output devices such as displays, mice, keyboards, and touchscreens. The network interface 940 provides connection interfaces for various network-connected devices. The storage interface 950 provides connection interfaces for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0111] Herein, various aspects of the present disclosure will be described in conjunction with flowcharts and / or block diagrams of methods, apparatus, and computer program products according to embodiments of the present disclosure. It should be understood that each block and combination of blocks in the flowcharts and / or block diagrams can be implemented by computer-readable program instructions.

[0112] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a dedicated computer, or other programmable device in order to generate a machine, and as a result, the instructions may be executed by the processor to generate a device that realizes a function specified in one or more blocks in a flowchart and / or block diagram.

[0113] These computer-readable program instructions may also be stored in computer-readable memory, which causes the computer to function in a particular way to produce a product that includes instructions that accomplish a function specified in one or more blocks in a flowchart and / or block diagram.

[0114] This disclosure may take the form of hardware-only embodiments, software-only embodiments, or embodiments combining software and hardware aspects.

[0115] The task processing method, devices and systems for multiple robots, robots, and computer-readable media in the above-described embodiments make it possible to ensure the continuity of task processing by robots and improve the success rate of task processing.

[0116] The above describes in detail the task processing methods, devices and systems, robots, and computer storage media for multiple robots as described herein. Some details well known in the art will not be described in order to avoid ambiguity of the concepts of this disclosure. Those skilled in the art will fully understand, based on the above description, how to implement the technical solutions disclosed herein. [Explanation of symbols]

[0117] 8. Task Processing System 51 Task Processing Devices 62 Robots 71 Electronic Devices 81 Task Processing Devices 82 Target-Transmitting Robot 83 Target Receiving Robot 90 Computer Systems 511 Identifier Module 512 Acquisition Module 513 Decision Module 514 Transmitter Module 621 First communication module 622 Second communication module 711 memory 712 Processors 900 bus 910 memory 920 Processor 930 I / O Interface 940 Network Interfaces 950 Storage Interfaces

Claims

1. A task processing method for a plurality of robots performed by a task processing device, wherein both the task processing device and the plurality of robots are deployed using a first communication module configured to perform bidirectional communication between the plurality of robots and the task processing device, and the plurality of robots further includes a second communication module configured to perform bidirectional communication between the plurality of robots. If it is detected that the heartbeat connection between at least one of the plurality of robots and the task processing device has been lost, the steps include identifying the at least one robot as a cutting robot, A step of obtaining the past position of the cutting robot among the plurality of robots and the current position of the connecting robot among the plurality of robots, wherein the connecting robot is a robot that maintains a heartbeat connection with the task processing device. With respect to the cutting robot, a step of determining a target transmitting robot corresponding to the cutting robot from among the plurality of robots according to the past position of the cutting robot and the current position of the connecting robot, wherein the target transmitting robot includes the connecting robot, If the distance between the current position of the connecting robot and the past position of the cutting robot is greater than a distance threshold, the step is to obtain the past position of a cutting robot other than the cutting robot. The steps include determining a candidate cutting robot for another cutting robot whose past position is at a distance of less than or equal to the distance threshold from the past position of the other cutting robot, according to the past position of the other cutting robot, The steps include determining a candidate connecting robot as a connecting robot if its current position is less than or equal to the distance threshold from the candidate cutting robot's past position, based on the past position of the candidate cutting robot and the current position of the connecting robot, The steps include determining the target cutting robot and the target connecting robot corresponding to the cutting robot from the candidate cutting robots and candidate connecting robots as the target transmitting robots, respectively, Steps including, The steps include: transmitting task information of the current task of the cutting robot to the cutting robot via the target transmitting robot; Task processing methods, including those mentioned above.

2. The step of transmitting the task information of the current task of the cutting robot to the cutting robot via the target transmitting robot is, The task processing method according to claim 1, further comprising the step of sequentially transmitting the task information of the current task of the cutting robot to the cutting robot via the target connecting robot and the target cutting robot.

3. The task processing method according to claim 1, further comprising the step of transmitting task information of the current task of the target cutting robot to the target cutting robot via the target connecting robot.

4. A step of determining a target receiving robot corresponding to the cutting robot from among the plurality of robots, wherein the target receiving robot is configured to receive the result of the execution of the current task transmitted from the cutting robot through the second communication module. A step of receiving the result of the execution of the current task through the target receiving robot, wherein the target receiving robot includes the connecting robot. The task processing method according to claim 1, further comprising:

5. The step of receiving the result of the execution of the current task by the target receiving robot is: If the target receiving robot includes only the connected robot, the step of receiving the result of the execution of the current task transmitted from the target receiving robot, If the target receiving robot includes the cutting robot and the connecting robot, the steps include sequentially receiving the results of the execution of the current task through the target receiving robot of the cutting robot and the connecting robot of the target receiving robot. The task processing method according to claim 4, including the method described in claim 4.

6. The task processing method according to claim 4, wherein the target receiving robot and the target transmitting robot are exactly the same, partially the same, or completely different.

7. The step of determining the target transmitting robot corresponding to the cutting robot from the plurality of robots is, If the distance between the current position of at least one of the plurality of robots and the past position of the cutting robot is less than or equal to the distance threshold, the process includes determining the target transmitting robot corresponding to the cutting robot from the at least one connected robot. The task processing method according to claim 1.

8. The step of determining the target transmitting robot corresponding to the cutting robot from the at least one connecting robot is, The task processing method according to claim 7, comprising the step of determining the connecting robot whose current position is the shortest distance from the cutting robot's past position to the at least one connecting robot as the target transmitting robot corresponding to the cutting robot.

9. The task processing method according to claim 1, wherein the difference between the wireless propagation distance of the second communication module and the wireless propagation distance of the first communication module is greater than a threshold value of the difference under the same power consumption, and the difference and the threshold value of the difference are positive integers.

10. The task processing method according to claim 9, wherein the current task is a follow task, and the second communication module is further configured to exchange real-time motion parameters, position, and road condition information among the plurality of robots performing the follow task.

11. The task processing method according to claim 10, wherein the motion parameter includes at least one of velocity, acceleration, or direction.

12. The task processing method according to claim 1, wherein the first communication module is a Wi-Fi module and the second communication module is a long-range wireless LORA module.

13. A task processing device for multiple robots, wherein both the task processing device and the multiple robots are deployed using a first communication module configured to perform bidirectional communication between the multiple robots and the task processing device, and the multiple robots further include a second communication module configured to perform bidirectional communication between the multiple robots. If it is detected that the heartbeat connection between at least one of the plurality of robots and the task processing device has been lost, an identification module configured to identify the at least one robot as a cutting robot, An acquisition module configured to acquire the past position of the cutting robot and the current position of the connected robot among the plurality of robots, wherein the connected robot is a robot that maintains a heartbeat connection with the task processing device, A decision module configured to determine a target transmitting robot corresponding to the cutting robot from among a plurality of robots according to the past position of the cutting robot and the current position of the connecting robot, wherein the target transmitting robot includes the connecting robot, and if the distance between the current position of the connecting robot and the past position of the cutting robot is greater than a distance threshold, the decision module obtains the past position of a cutting robot other than the cutting robot, determines the other cutting robot as a candidate cutting robot whose past position is less than or equal to the distance threshold from the past position of the cutting robot according to the past position of the other cutting robot, determines the connecting robot as a candidate connecting robot whose current position is less than or equal to the distance threshold from the past position of the candidate cutting robot according to the past position of the candidate cutting robot and the current position of the connecting robot, and determines the target cutting robot and the target connecting robot corresponding to the cutting robot as the target transmitting robots, respectively, from the candidate cutting robots and the candidate connecting robots. A transmission module configured to transmit task information of the current task of the cutting robot to the cutting robot via the target transmission robot, Task processing devices, including those mentioned above.

14. A task processing method for a plurality of robots, comprising a first communication module and a second communication module, wherein the first communication module is configured to perform bidirectional communication between the plurality of robots and the first communication module of a task processing device, the second communication module is configured to perform bidirectional communication between the plurality of robots, and the task processing method is performed by one of the plurality of robots. The steps include receiving task information for the current task of the cutting robot transmitted from the task processing device through the first communication module, and if the heartbeat connection between the robot and the task processing device has not been lost and the robot has been determined to be the target transmitting robot corresponding to the cutting robot, transmitting the task information for the current task of the cutting robot to the cutting robot through the second communication module, wherein the cutting robot is a robot for which the heartbeat connection with the task processing device has been lost, If the heartbeat connection between the robot and the task processing device is lost, the step of receiving task information for the robot's current task transmitted through the second communication module from the target transmitting robot corresponding to the robot, wherein the target transmitting robot includes a connected robot, If the heartbeat connection between the robot and the task processing device is lost and the robot is determined to be a target transmitting robot corresponding to another cutting robot, the robot receives task information for the current task of the other cutting robot transmitted from the other target transmitting robot via the second communication module, and transmits the task information for the current task of the other cutting robot to the other cutting robot, wherein the other target transmitting robot includes the connecting robot. Task processing methods, including those mentioned above.

15. If the target transmitting robot includes at least one robot that is at a distance of less than or equal to a distance threshold from the corresponding cutting robot, and there are multiple target transmitting robots, then the serial path formed by the multiple target transmitting robots includes a serial path where the distance between any two adjacent target transmitting robots is less than or equal to the distance threshold. The task processing method according to claim 14.

16. A first communication module configured to perform bidirectional communication with a first communication module of a task processing device, A second communication module configured to perform bidirectional communication with a second communication module of another robot. Includes, If task information for the current task of the cutting robot is received from the task processing device via the first communication module, and the heartbeat connection between the robot and the task processing device is not lost, and the robot is determined to be the target transmitting robot corresponding to the cutting robot, then the task information for the current task of the cutting robot is transmitted to the cutting robot via the second communication module, and the cutting robot is a robot that has lost its heartbeat connection with the task processing device, Task information of the robot's current task, transmitted from the target transmitting robot corresponding to the robot, is received through the second communication module, and the target transmitting robot, including the connecting robot, if the heartbeat connection between the robot and the task processing device is lost, If the heartbeat connection between the robot and the task processing device is lost, and the robot is determined to be a target transmitting robot corresponding to another cutting robot, the robot receives task information for the current task of the other cutting robot transmitted from the other target transmitting robot via the second communication module, and transmits the task information for the current task of the other cutting robot to the other cutting robot, wherein the other target transmitting robot includes the connecting robot.

17. If the target transmitting robot includes at least one robot that is at a distance of less than or equal to a distance threshold from the corresponding cutting robot, and there are multiple target transmitting robots, then the serial path formed by the multiple target transmitting robots includes a serial path where the distance between any two adjacent target transmitting robots is less than or equal to the distance threshold. The robot according to claim 16.

18. Memory and The system includes a processor coupled to the memory, wherein the processor is configured to execute the task processing method according to any one of claims 1 to 12 and 14 to 15 based on instructions stored in the memory. Electronic devices.

19. A task processing system for a plurality of robots, comprising the task processing device described in claim 13.

20. The task processing system according to claim 19, further comprising a target transmitting robot configured to receive task information for the current task of a cutting robot from the task processing device via a first communication module and to transmit the task information for the current task to the cutting robot via a second communication module.

21. A computer-readable medium storing computer program instructions that, when executed by a processor, implement the task processing method described in any one of claims 1 to 12 and 14 to 15.

22. A computer program that, when executed by a processor, includes instructions causing the processor to execute the task processing method described in any one of claims 1 to 12 and 14 to 15.

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