CN110281242B - Robot path updating method, electronic device, and computer-readable storage medium - Google Patents
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Abstract
The application provides a robot path updating method, which is characterized by being applied to a first robot and comprising the following steps: determining an initial path according to the initial site information to control the first robot to work; acquiring field updating information, and optimizing an initial path according to the field updating information to obtain an optimized path, wherein the field updating information is shared information of a second robot, and the second robot is configured to move according to a corresponding moving path and can acquire current scene information; and controlling the first robot to work according to the optimized path. The application also provides an electronic device and a computer readable storage medium. By the method, the first robot can acquire the abnormal information possibly existing in the initial path in advance and determine the optimized path capable of avoiding the abnormal information, so that the time wasted in the prior art that the abnormal information is reported and the reported processing result is waited only after the abnormal information is encountered is saved, and further the working efficiency is improved.
Description
Technical Field
The present application relates to the field of network communication technologies, and in particular, to a robot path updating method, an electronic device, and a computer-readable storage medium.
Background
At present, the electronic commerce develops very rapidly, and the customer order quantity increases rapidly. In order to improve the picking efficiency and meet the continuously increasing demand of single quantity, different types of equipment are respectively released by various logistics equipment manufacturers. The representative method is AGV and AS/RS, the principle of the AGV and AS/RS is basically consistent, the commodities are placed in a bin, the bin is pushed to a goods picking workstation through a robot, and then the goods picking staff picks the corresponding commodities according to the prompt of a system interface. Although the two equipment forms solve the problem of personnel walking in the picking process, the scheme has high investment cost and great change on the whole warehouse, and the general electric commerce and enterprise is difficult to undertake and popularize for large-scale use. In the current robot scheduling method, when one of the robots encounters an obstacle or a target point cannot reach the obstacle during operation, the robot notifies the central scheduling system that its own forward path is blocked. The central dispatching system plans a path for the robot again according to the feedback of the robot, so that the running efficiency of the robot is reduced. Meanwhile, many dynamic changing factors influence the normal operation of the robot in the operation process of the robot, such as goods absence, wrong storage information and the like.
Disclosure of Invention
The main objective of the present application is to provide a robot path updating method, an electronic device, and a computer-readable storage medium, which are intended to enable a robot to know an abnormal problem in a traveling process in advance and make a work task adjustment in advance.
To achieve the above object, the present application provides a robot path updating method applied to a first robot, the method including: determining an initial path according to the initial site information to control the first robot to work; acquiring field updating information, and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is shared information of a second robot, and the second robot is configured to move according to a corresponding moving path and can acquire current scene information; and controlling the first robot to work according to the optimized path.
Optionally, before the step of optimizing the initial path according to the site update information to obtain an optimized path, the method further includes: determining that the venue update information is associated with the initial path.
Optionally, the determining that the venue update information is associated with the initial path is that the venue update information is located in initial path information corresponding to the initial path.
Optionally, before the step of determining an initial path according to the initial site information to control the first robot to work, the method further includes: determining task information corresponding to the first robot; and acquiring the initial site information corresponding to the task information from a server according to the task information.
Optionally, the shared information is abnormal information that is not included in the initial site information.
Optionally, the abnormality information includes at least one of: an obstacle on the movement path; an obstacle present at the target point; the goods in a certain storage position are out of stock; congestion of a certain channel; the electric quantity and the mileage state of the robot change.
Optionally, the first robot configures a receiver, and the step of obtaining the venue update information is to receive, by the receiver, the venue update information sent by the server through broadcasting.
The present application further provides a robot path updating apparatus, the apparatus comprising: the control module is used for determining an initial path according to initial site information to control the first robot to work; the updating module is used for acquiring field updating information and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is shared information of a second robot, and the second robot is configured to move according to a corresponding moving path and can acquire current scene information; and the control module is also used for controlling the first robot to work according to the optimized path.
The present application further provides an electronic device, the electronic device including:
a processor;
and the memory is connected with the processor and contains a control instruction, and when the processor reads the control instruction, the electronic equipment is controlled to realize the robot path updating method.
The present application also provides a computer-readable storage medium having one or more programs, which are executed by one or more processors, to implement the robot path updating method described above.
According to the robot path updating method, the electronic device and the computer readable storage medium, the first robot proceeds according to the initial path after acquiring the initial field information and determining the initial path, acquires the field updating information in the proceeding process, optimizes the initial path according to the field updating information to obtain the optimized path, and proceeds according to the optimized path. By the method, the first robot can obtain the shared information uploaded by other robots, for example, the scene information detected by the second robot in the process of traveling is used for acquiring abnormal information possibly existing in the initial path in advance, and determining the optimized path capable of avoiding the abnormal information, so that the time wasted in the prior art that the abnormal information is reported and the reported processing result is waited only after the abnormal information is encountered is saved, and further the working efficiency is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Fig. 1 is a flowchart of a robot path updating method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a robot path updating apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that in the description of the present invention, unless otherwise explicitly specified or limited, the term "storage medium" may be various media that can store a computer program, such as ROM, RAM, a magnetic or optical disk, or the like. The term "processor" may be a chip or a circuit having a data processing function, such as a CPLD (Complex Programmable Logic Device), an FPGA (Field-Programmable Gate Array), an MCU (micro Controller Unit), a PLC (Programmable Logic Controller), and a CPU (central processing Unit). The term "electronic device" may be any device having data processing and storage functions and may generally include fixed and mobile terminals. Fixed terminals such as desktop computers and the like. Mobile terminals such as mobile phones, PADs, and mobile robots, etc. Furthermore, the technical features mentioned in the different embodiments of the invention described later can be combined with each other as long as they do not conflict with each other.
In the following, the present invention proposes some preferred embodiments to teach those skilled in the art to implement.
The current warehousing robot can be conveniently deployed in the existing warehouse, after the storage position information of the warehouse is synchronized to the robot system, the robot can directly display the task information on a PAD of the robot near the storage position according to the task information, and a user is prompted to perform corresponding operation. The picking staff patrol in the storage area to find the robot which needs to execute the task. And after the robot is found, the robot moves to the front of the robot, and the operation is carried out according to the prompt information on the flat plate. The picking personnel no longer need to pull the picking trolley to move in the warehouse, the moving distance is greatly reduced, and the picking efficiency of the personnel is improved.
However, in the current robot scheduling method, when one of the robots encounters an obstacle or a target point cannot reach the obstacle during operation, the robot notifies the central scheduling system that its own forward path is blocked. The central dispatching system plans a path for the robot again according to the feedback of the robot. However, when the robot waits for the central dispatching system to feed back a new path, the robot cannot move or work continuously, and needs to wait for a while, which reduces the running efficiency of the robot.
FIG. 1 is a flowchart of an embodiment of a robot path updating method provided by the present application. The updating method can be applied to any one robot, and it should be noted that in a warehousing environment, a plurality of robots may exist, and the plurality of robots are in a decentralization relationship with each other, that is, when an information transmission relationship with another robot is involved in the updating method, the other robot is also applicable. When the steps are executed, the steps may be executed in sequence as in the flowchart, or multiple steps may be executed simultaneously according to the actual situation, which is not limited herein. The robot path updating method provided by the application comprises the following steps:
step S110, determining an initial path according to initial site information to control the first robot to work;
step S130, obtaining field updating information, and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is shared information of a second robot, and the second robot is configured to move according to a corresponding moving path and can obtain current scene information;
and S150, controlling the first robot to work according to the optimized path.
Through the implementation mode, the first robot can obtain the shared information uploaded by other robots, for example, the scene information detected by the second robot in the process of traveling is used for obtaining the abnormal information possibly existing in the initial path in advance, and determining the optimized path capable of avoiding the abnormal information, so that the time wasted in the prior art that the abnormal information is reported and the reported processing result is waited only after the abnormal information is encountered is saved, and further the working efficiency is improved.
The above steps will be specifically described with reference to specific examples.
In step S110, an initial path is determined according to the initial site information to control the first robot to work. Wherein the first robot is the robot currently running the method. The first robot is in communication connection with the server. The server may be a cloud server or a local server, and is not particularly limited. The server is used for receiving information such as robot individual information, robot cluster information, environment information, worker information, task information and the like. The server can be centralized, for example, the server is distributed in the cloud, and can also be erected in a local machine room; the server can also be distributed without a center, and is distributed and erected on a cloud end, a local place and a robot.
The decentralized distributed server refers to that each distributed node (which may be a server or a robot) synchronizes information. Thus comprising a centerless server with only robot nodes and no server nodes. The communication modes between the robots include but are not limited to wifi, bluetooth, laser, etc.
The server stores configuration information in a field where the robot operates. The site may include one site, or may include information about a plurality of different sites. The configuration information may include location information of the items within the venue, mobile aisle information, or other relevant information. The initial site information is site information related to the current robot acquired by the robot, for example, the first robot needs to work in the site a, and then the information related to the site a acquired by the first robot from the server before the work is the initial site information.
In an optional embodiment, before step S110, the method further includes:
step S101, determining task information corresponding to the first robot;
step S103, acquiring the initial site information corresponding to the task information from a server according to the task information.
Through the embodiment, each robot can acquire the initial site information corresponding to the current robot from the server.
Here, in step S101, the task information may be determined by setting on the interactive panel of the robot by the worker. In the present embodiment, the task information includes at least target location information, warehouse identification information, and the like. In other embodiments, the task information may also be other information determined in a manner customized by the staff. After acquiring the task information, the processor of the first robot sends the task information to the server through a communication line, wherein the communication line comprises but is not limited to wifi, Bluetooth and laser. In step S103, after receiving the task information data, the server determines, according to the task information data, location information corresponding to the task information from the memory, and sends the location information to the first robot, where the location information is initial location information of the first robot.
The initial path refers to information for guiding the first robot to proceed. In the present embodiment, the initial route is a route calculated by the processor of the first robot from the initial location information after the first robot receives the initial location information. In other embodiments, the initial path is a path determined by the server according to the initial location information, and then the path is sent to the first robot, so that the processor of the first robot controls the first robot to move forward according to the path. The initial path may be a recalculated path or a path obtained from a history record.
In step S130, the site update information is obtained, and the initial path is optimized according to the site update information to obtain an optimized path. The field updating information is shared information of a second robot, wherein the second robot is configured to move according to a corresponding moving path and can acquire current scene information. The field configuration information stored in the server is manually input or information pre-stored in other manners, and in the actual management process, the actual situation in the field may change, for example, an obstacle that has not been appeared before appears on a channel, and this situation may cause the robot to be blocked when moving ahead along the initial path. When such a situation is met, the robot sends the obstacle information to the server, so that the server calculates a new path to instruct the mobile terminal to proceed, which is the aforementioned prior art, and this causes the robot to waste a certain time to wait. In this embodiment, the first robot acquires the field update information in a real-time manner, a periodic acquisition manner, or a passive reception manner during the forward process according to the initial path, and optimizes the initial path according to the field update information to obtain the optimized path.
And the site updating information is also stored in the server. As described above, the server may be a cloud or a local server, or other robots may be used as the server. The servers can be arranged in a centralized manner or in an decentralized manner, and the server can be determined according to actual conditions.
In an optional embodiment, the shared information is uploaded to abnormal information not included in the initial site information of the server through the second robot. Specifically, in one field environment, there are a plurality of running robots, and there may be differences in tasks, travel routes, and the like performed by each robot, so that the situation that each robot may encounter also differs. In the present embodiment, when the second robot encounters abnormality information such as an obstacle, the second robot transmits the abnormality information to the server. In order to avoid uploading unnecessary data information, after the second robot detects the abnormal information, the abnormal information is compared with the acquired initial site information, the abnormal information is determined not to be included in the initial site information, and the abnormal information is controlled to be uploaded to the server to form site updating information. Other running robots can update the latest site information from the server, and further other robots can obtain information of obstacles on a certain coordinate point, and when other robots are controlled to plan a path, the abnormal situation can be taken into consideration to plan in advance, instead of determining the path according to the initial site information or advancing according to the initial path.
In this embodiment, the second robot is configured to move according to a corresponding movement path and can acquire current scene information. For example, when the robot encounters abnormal information in the operation process, the robot uploads the abnormal information to the server to share the information, and all subsequent robots can acquire the abnormal information from the server through the receiver. The abnormal information includes at least one of the following: an obstacle on the movement path; an obstacle present at the target point; the goods in a certain storage position are out of stock; congestion of a certain channel; the electric quantity and the mileage state of the robot change.
Through the embodiment, the robot reports the shared information to the server, and besides directly sending the shared information to the server, the shared information can be directly stored in distributed server nodes on the robot, and then the robot waits for the distributed server nodes to synchronize the information to other distributed server nodes. Therefore, the effect of synchronizing the shared information to other robots is achieved. In the process of the current robot advancing, the initial path of the current robot is optimized by acquiring the field updating information detected and uploaded by other robots, so that the optimized path for avoiding the abnormal information is extracted and calculated, and the running efficiency of the robot can be improved.
In an optional embodiment, the first robot configures a receiver, and the step of acquiring the venue update information is to receive, by the receiver, the venue update information transmitted by the server through broadcasting. The server can broadcast the site updating information to the first robot in the forms of http, WebSocket and the like, and the first robot obtains the site updating information in the communication modes of wifi, Bluetooth, laser and the like.
In step S150, the first robot is controlled to work according to the optimized path.
Specifically, the first robot determines an optimized path according to the acquired site update information. When the robot plans the path autonomously, the planned path is considered again according to the latest information received at present. The robot executes the planned optimal path, meanwhile, the robot continuously synchronizes the latest information in the executing process, and whether the path needs to be optimized and updated is continuously judged according to the current latest information, so that the running route and the executed task of the robot are always optimal.
Through the embodiment, not only is the working efficiency of the first robot improved, but also the problem that in the prior art, each robot and the server are in independent communication, the abnormal situation reported by one robot cannot be shared by other robots, other robots plan a route without knowing the abnormal situation, and then encounter the first robot again, and the repetition causes the efficiency to be lowered is avoided.
Further, in order to reduce data processing pressure caused by the fact that the robot frequently recalculates the path according to different site update information, the method provided by the application further includes, before the step of optimizing the initial path according to the site update information to obtain an optimized path:
step S120, determining that the site update information is associated with the initial path.
The association with the initial path means that the initial path cannot pass through. The abnormal information encountered by the other robots during traveling may not be related to the current initial path of the first robot, that is, the abnormal information encountered by the other robots may not cause the first robot to be unable to travel forward or to complete a task, and at this time, the first robot does not process the field update information when receiving the field update information. And only when the received site updating information is associated with the initial path, optimizing the initial path according to the site updating information to obtain an optimized path. In this embodiment, the place update information is associated with the initial path such that the place update information is located in the initial path information corresponding to the initial path, for example, the initial path information includes at least: position information, commodity information, congestion information, and the like constituting the initial route. Comparing the site updating information with the initial path information corresponding to the initial path, and if the site updating information influences the initial path information, determining that the scene updating information is associated with the initial path.
Fig. 2 is a robot path updating apparatus 200 according to an embodiment of the present application, the apparatus including:
the control module 210 is configured to determine an initial path according to initial site information to control the first robot to work;
an updating module 230, configured to obtain field update information, and optimize the initial path according to the field update information to obtain an optimized path, where the field update information is shared information of a second robot, and the second robot is configured to move according to a corresponding moving path and can obtain current scene information;
and the control module 210 is further configured to control the first robot to work according to the optimized path.
Optionally, determining an initial path according to initial site information to control the first robot to work; acquiring field updating information, and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is information which is not included in the initial field information; and controlling the first robot to work according to the optimized path.
Optionally, before the step of optimizing the initial path according to the venue update information to obtain an optimized path, the updating module 230 is further configured to determine that the venue update information is associated with the initial path.
Optionally, the determining that the venue update information is associated with the initial path is that the venue update information is located in initial path information corresponding to the initial path.
Optionally, the device further includes an obtaining module, configured to determine task information corresponding to the first robot before the step of determining an initial path according to the initial site information to control the first robot to work; and acquiring the initial site information corresponding to the task information from a server according to the task information.
Optionally, the shared information is abnormal information that is not included in the initial site information.
Optionally, the abnormality information includes at least one of: an obstacle on the movement path; an obstacle present at the target point; the goods in a certain storage position are out of stock; congestion of a certain channel; the electric quantity and the mileage state of the robot change.
Optionally, the first robot configures a receiver, and the step of obtaining the venue update information is to receive, by the receiver, the venue update information sent by the server through broadcasting.
Through the robot path updating apparatus 200, the first robot proceeds according to the initial path after acquiring the initial field information and determining the initial path, acquires the field update information during proceeding, optimizes the initial path according to the field update information to obtain an optimized path, and proceeds according to the optimized path. By the method, the first robot can obtain the shared information uploaded by other robots, for example, the scene information detected by the second robot in the process of traveling is used for acquiring abnormal information possibly existing in the initial path in advance, and determining the optimized path capable of avoiding the abnormal information, so that the time wasted in the prior art that the abnormal information is reported and the reported processing result is waited only after the abnormal information is encountered is saved, and further the working efficiency is improved.
Fig. 3 is a schematic structural diagram of an electronic device 300 according to an embodiment of the present application, where the electronic device 300 includes: a processor 310; a memory 330 connected to the processor 310, wherein the memory 330 contains control instructions, and when the processor 310 reads the control instructions, the electronic device 300 is controlled to implement the following steps:
determining an initial path according to the initial site information to control the first robot to work; and acquiring field updating information, and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is shared information of a second robot, and the second robot is configured to move according to a corresponding moving path and can acquire current scene information.
Optionally, before the step of optimizing the initial path according to the site update information to obtain an optimized path, the method further includes: determining that the venue update information is associated with the initial path.
Optionally, the determining that the venue update information is associated with the initial path is that the venue update information is located in initial path information corresponding to the initial path.
Optionally, before the step of determining an initial path according to the initial site information to control the first robot to work, the method further includes: determining task information corresponding to the first robot; and acquiring the initial site information corresponding to the task information from a server according to the task information.
Optionally, the shared information is abnormal information that is not included in the initial site information.
Optionally, the abnormality information includes at least one of: an obstacle on the movement path; an obstacle present at the target point; the goods in a certain storage position are out of stock; congestion of a certain channel; the electric quantity and the mileage state of the robot change.
Optionally, the first robot configures a receiver, and the step of obtaining the venue update information is to receive, by the receiver, the venue update information sent by the server through broadcasting.
Through the electronic device 300, the first robot proceeds according to the initial path after acquiring the initial field information and determining the initial path, acquires the field update information during the proceeding process, optimizes the initial path according to the field update information to obtain the optimized path, and proceeds according to the optimized path. By the method, the first robot can obtain the shared information uploaded by other robots, for example, the scene information detected by the second robot in the process of traveling is used for acquiring abnormal information possibly existing in the initial path in advance, and determining the optimized path capable of avoiding the abnormal information, so that the time wasted in the prior art that the abnormal information is reported and the reported processing result is waited only after the abnormal information is encountered is saved, and further the working efficiency is improved.
Embodiments of the present application also provide a computer-readable storage medium having one or more programs, where the one or more programs are executed by one or more processors to implement the following steps:
determining an initial path according to the initial site information to control the first robot to work; acquiring field updating information, and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is shared information of a second robot, and the second robot is configured to move according to a corresponding moving path and can acquire current scene information; and controlling the first robot to work according to the optimized path.
Optionally, before the step of optimizing the initial path according to the site update information to obtain an optimized path, the method further includes: determining that the venue update information is associated with the initial path.
Optionally, the determining that the venue update information is associated with the initial path is that the venue update information is located in initial path information corresponding to the initial path.
Optionally, before the step of determining an initial path according to the initial site information to control the first robot to work, the method further includes: determining task information corresponding to the first robot; and acquiring the initial site information corresponding to the task information from a server according to the task information.
Optionally, the shared information is abnormal information that is not included in the initial site information.
Optionally, the abnormality information includes at least one of: an obstacle on the movement path; an obstacle present at the target point; the goods in a certain storage position are out of stock; congestion of a certain channel; the electric quantity and the mileage state of the robot change.
Optionally, the first robot configures a receiver, and the step of obtaining the venue update information is to receive, by the receiver, the venue update information sent by the server through broadcasting.
Through the computer-readable storage medium, the first robot proceeds according to the initial path after acquiring the initial field information and determining the initial path, acquires field update information during proceeding, optimizes the initial path according to the field update information to obtain an optimized path, and proceeds according to the optimized path. By the method, the first robot can obtain the shared information uploaded by other robots, for example, the scene information detected by the second robot in the process of traveling is used for acquiring abnormal information possibly existing in the initial path in advance, and determining the optimized path capable of avoiding the abnormal information, so that the time wasted in the prior art that the abnormal information is reported and the reported processing result is waited only after the abnormal information is encountered is saved, and further the working efficiency is improved.
The embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium herein stores one or more programs. Among other things, computer-readable storage media may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, a hard disk, or a solid state disk; the memory may also comprise a combination of memories of the kind described above.
The corresponding technical features in the above embodiments may be used with each other without causing contradiction in the schemes or without being implementable.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A robot path updating method applied to a first robot, the method comprising:
acquiring task information corresponding to the first robot from a server;
acquiring initial site information corresponding to the task information and site updating information stored in the server from the server according to the task information;
determining an initial path to control the first robot to work according to initial site information and site updating information in the server;
acquiring field updating information from a second robot which is in WiFi, Bluetooth or laser communication connection with the first robot, and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is determined by the following steps: after detecting the abnormal information, the second robot compares the abnormal information with the acquired initial site information, determines that the abnormal information is not included in the initial site information, and controls to upload the abnormal information to the server to form site updating information; the second robot is configured to move according to a corresponding moving path and can acquire current scene information;
and controlling the first robot to work according to the optimized path.
2. The method of claim 1, wherein before the step of optimizing the initial path based on site update information to obtain an optimized path, the method further comprises: determining that the venue update information is associated with the initial path.
3. The method of claim 2, wherein the determining that the venue update information is associated with the initial path is that the venue update information is located in initial path information corresponding to the initial path.
4. The method of claim 1, wherein the anomaly information comprises at least one of: an obstacle on the movement path; an obstacle present at the target point; the goods in a certain storage position are out of stock; congestion of a certain channel; the electric quantity and the mileage state of the robot change.
5. The method of claim 1, wherein the first robot configures a receiver, and the step of obtaining venue update information is receiving, via the receiver, venue update information sent by the server via broadcast.
6. A robot path updating apparatus, characterized in that the apparatus comprises:
the control module is used for acquiring task information corresponding to a first robot from a server, acquiring initial field information corresponding to the task information and field updating information stored in the server from the server according to the task information, and determining an initial path according to the initial field information and the field updating information in the server to control the first robot to work;
the updating module is used for acquiring field updating information from a second robot which is in WiFi, Bluetooth or laser communication connection with the first robot, and optimizing the initial path according to the field updating information to obtain an optimized path, wherein the field updating information is determined through the following steps: after detecting the abnormal information, the second robot compares the abnormal information with the acquired initial site information, determines that the abnormal information is not included in the initial site information, and controls to upload the abnormal information to the server to form site updating information; the second robot is configured to move according to a corresponding moving path and can acquire current scene information;
and the control module is also used for controlling the first robot to work according to the optimized path.
7. An electronic device, characterized in that the electronic device comprises:
a processor;
a memory connected to the processor, the memory containing control instructions, and when the processor reads the control instructions, the memory controlling the electronic device to implement the robot path updating method according to any one of claims 1 to 5.
8. A computer-readable storage medium having one or more programs thereon for execution by one or more processors to perform the robot path updating method of any of claims 1 to 5.
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| CN201910574350.1A CN110281242B (en) | 2019-06-28 | 2019-06-28 | Robot path updating method, electronic device, and computer-readable storage medium |
| PCT/CN2020/092162 WO2020259167A1 (en) | 2019-06-28 | 2020-05-25 | Robot path updating method, electronic device and computer-readable storage medium |
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| CN110281242B (en) * | 2019-06-28 | 2022-02-22 | 炬星科技（深圳）有限公司 | Robot path updating method, electronic device, and computer-readable storage medium |
| CN110666797B (en) * | 2019-09-30 | 2023-01-06 | 东莞市李群自动化技术有限公司 | Robot control system and method |
| CN112621738B (en) * | 2019-10-08 | 2024-06-21 | 炬星科技（深圳）有限公司 | Robot control method, electronic device, and computer-readable storage medium |
| CN110728479A (en) * | 2019-10-12 | 2020-01-24 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN110879594B (en) * | 2019-11-25 | 2020-11-17 | 广西科技师范学院 | Big data-based robot path planning data management system |
| CN113627703A (en) * | 2020-05-08 | 2021-11-09 | 北京京东乾石科技有限公司 | Scheduling method and apparatus for mobile device, computer system, and storage medium |
| CN112666942A (en) * | 2020-12-15 | 2021-04-16 | 美智纵横科技有限责任公司 | Self-moving robot and path planning method, device, equipment and storage medium thereof |
| CN115226203B (en) * | 2022-06-23 | 2024-04-30 | 汕头大学 | Positioning method, equipment and medium for robot cluster in GPS refusing environment |
| CN115016506B (en) * | 2022-07-18 | 2024-06-14 | 北京大学 | Heterogeneous multi-agent network collaborative scheduling planning method based on autonomous obstacle detouring |
| CN117047784B (en) * | 2023-10-11 | 2024-01-26 | 大扬智能科技(北京)有限公司 | Method and device for determining position of robot for picking goods and robot system |
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