Multi-machine cooperation method, scheduling device, and multi-machine cooperation system

Patent metadata

Field	Value
Publication number	US-2024094746-A1
Application number	US-202318527236-A
Country	US
Kind code	A1
Filing date	Dec 1, 2023
Priority date	Jun 1, 2021
Publication date	Mar 21, 2024
Grant date	—

Abstract

A multi-machine cooperation method, a scheduling device, and a multi-machine cooperation system are described. The multi-machine cooperation method includes: determining, by a first autonomous robot when detecting an abnormal condition during operation, whether the abnormal condition can be independently processed; and when the abnormal condition cannot be independently processed, sending, by the first autonomous robot, an assistance request to another device in an Internet of Things in which the first autonomous robot is located. In the specification, a multi-machine cooperation operation between autonomous robots or between an autonomous robot and another device can be implemented.

First claim

What is claimed is:

1 . A multi-machine cooperation method, comprising:
at a first autonomous robot: performing an operation on a ground in a working region, determining, when detecting an abnormal condition during operation, a working policy required to eliminate the abnormal condition, wherein the abnormal condition refers to an unexpected condition during the operation of the first autonomous robot, and determining, based on the working policy and a work type that can be processed by the first autonomous robot, whether the abnormal condition can be independently processed; and when the abnormal condition cannot be independently processed, sending, by the first autonomous robot, an assistance request to another device in an Internet of Things in which the first autonomous robot is located.

2 . The multi-machine cooperation method according to claim 1 , wherein the first autonomous robot is an autonomous robot having a scheduling function, and the sending, by the first autonomous robot, an assistance request to another device in an Internet of Things in which the first autonomous robot is located comprises:
receiving, by the first autonomous robot, status information of the another device, and determining, according to the status information, whether there is a second autonomous robot that can independently process the abnormal condition in the Internet of Things; and when there is the second autonomous robot that can independently process the abnormal condition in the Internet of Things, sending, by the first autonomous robot, a scheduling instruction to the second autonomous robot, wherein the scheduling instruction comprises a scheduling path for the second autonomous robot to reach a specified position, so that the second autonomous robot reaches the specified position according to the scheduling instruction to process the abnormal condition.

3 . The multi-machine cooperation method according to claim 2 , wherein the method further comprises:
receiving, by the first autonomous robot, a processed signal sent by the second autonomous robot, wherein the processed signal is sent by the second autonomous robot after processing the abnormal condition; and sending, by the first autonomous robot, a return instruction to the second autonomous robot, wherein the return instruction comprises a return path for the second autonomous robot to return to a position before processing the abnormal condition, so that the second autonomous robot returns, according to the return instruction, to the position before processing the abnormal condition, to continue executing an interrupted operation of the second autonomous robot.

4 . The multi-machine cooperation method according to claim 3 , wherein the method further comprises:
when a waiting time after the first autonomous robot sends the scheduling instruction to the second autonomous robot reaches a preset waiting time, or when the first autonomous robot receives a reply signal fed back by the second autonomous robot, leaving, by the first autonomous robot, a target position at which the abnormal condition is detected and continuing executing the operation.

5 . The multi-machine cooperation method according to claim 4 , wherein the method further comprises:
when the first autonomous robot receives the processed signal sent by the second autonomous robot, returning, by the first autonomous robot, to the target position at a specified moment, and performing the operation on the target position or a region within a preset range of the target position.

6 . The multi-machine cooperation method according to claim 2 , wherein the determining, according to the status information, whether there is a second autonomous robot that can independently process the abnormal condition in the Internet of Things comprises:
determining, by the first autonomous robot according to the status information, whether there is an autonomous robot of which an executable work type matches a work type for eliminating the abnormal condition or a functional component matches a functional component for eliminating the abnormal condition in the another device, and if a result is yes, determining that the autonomous robot meets an assistance condition; and if only one autonomous robot meets the assistance condition, determining the autonomous robot meeting the assistance condition as the second autonomous robot; or if a plurality of autonomous robots meet the assistance condition, selecting, according to a first screening rule, one autonomous robot from the plurality of autonomous robots meeting the assistance condition as the second autonomous robot.

7 . The multi-machine cooperation method according to claim 2 , wherein the method further comprises:
when there is no second autonomous robot that can independently process the abnormal condition in the Internet of Things, calling, by the first autonomous robot, pre-stored position information of a working head station and a working head list of the working head station, wherein the working head station has a plurality of working head placement positions, at least one working head is pre-placed at each placement position, a working head identifier is set at each working head placement position or a working head identifier is set on each working head, and the working head identifier comprises a working head type or work type information that can be executed by a working head; and when there is a working head that can eliminate the abnormal condition in the working head list, selecting, according to the status information, an autonomous robot that can identify a working head identifier from the another device, and sending a replacement instruction to the autonomous robot, wherein the replacement instruction comprises a return path for the autonomous robot to move to the working head station and the working head identifier of the working head that can eliminate the abnormal condition, so that the autonomous robot mounts, according to the replacement instruction, the working head that can eliminate the abnormal condition.

8 . The multi-machine cooperation method according to claim 1 , wherein the first autonomous robot is an autonomous robot having a scheduling function, and the sending, by the first autonomous robot, an assistance request to another device in an Internet of Things in which the first autonomous robot is located comprises:
receiving, by the first autonomous robot, status information of the another device, and determining, according to the status information, whether there is a third autonomous robot that can assist in processing the abnormal condition in the Internet of Things; and when there is the third autonomous robot that can assist in processing the abnormal condition in the Internet of Things, sending, by the first autonomous robot, a scheduling instruction to the third autonomous robot, wherein the scheduling instruction comprises a scheduling path for the third autonomous robot to reach a specified position, so that the third autonomous robot reaches the specified position according to the scheduling instruction, and the first autonomous robot processes the abnormal condition in cooperation with the third autonomous robot.

9 . The multi-machine cooperation method according to claim 8 , wherein the processing the abnormal condition in cooperation with the third autonomous robot comprises:
sending, by the first autonomous robot, an action instruction to the third autonomous robot; and when the first autonomous robot receives receiving confirmation information returned by the third autonomous robot for the action instruction, performing, by the first autonomous robot and the third autonomous robot, an action corresponding to the action instructi

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming
• Wu Shuanglong
• Gao Don Zhendong
• Zha Xiahong
• Liu Changhua

Classifications

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• G05D1/69 Primary

  Coordinated control of the position or course of two or more vehicles · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/80

  Arrangements for reacting to or preventing system or operator failure (handing over between remote control and on-board control, or handing over between remote control arrangements G05D1/227) · CPC title