CN112162559A

CN112162559A - Method, device and storage medium for multi-robot mixing

Info

Publication number: CN112162559A
Application number: CN202011060522.2A
Authority: CN
Inventors: 桑云; 贾永华; 吴永海; 李必勇; 白寒
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-01-01
Anticipated expiration: 2040-09-30
Also published as: CN112162559B; WO2022068926A1

Abstract

The invention provides a method, a device and a storage medium for multi-robot mixing, and the technical scheme is as follows: the dispatching platform converts the running path information of the robot under the base coordinate system into the running path information adopted by the robot under the slave coordinate system and then sends the running path information to the robot, so that the robot can automatically run according to the current position and the converted running path information; or the dispatching platform sends the running path information of the robot under the base coordinate system to the robot, and the robot converts the current position of the robot under the base coordinate system into the current position under the base coordinate system, so that the robot can run autonomously according to the converted current position and the running path information under the base coordinate system received from the dispatching platform. The invention can improve the safety of the mixed operation of different types of robots in the same working site.

Description

Method, device and storage medium for multi-robot mixing

Technical Field

The invention relates to the technical field of robots, in particular to a method, a device and a storage medium for multi-robot mixed walking.

Background

With the rapid development of related technologies of robots in recent years, robots are more and more commonly applied in logistics, storage, factory production and the like.

In practical application, the situation that multiple types of robots work together in the same work place often exists, the multiple types of robots may come from the same or different manufacturers, different coordinate systems may be adopted when different types of robots of the same manufacturer are autonomously positioned, the coordinate systems adopted when the robots of different manufacturers are autonomously positioned are different, and the problem of coordinate non-uniformity among the robots occurs due to the difference of coordinate system definition, scale and offset among different coordinate systems. In order to realize the mixed operation of different types of robots in the same working field, realize unified scheduling and prevent the robots from colliding, the problem of coordinate unification among different types of robots must be solved.

At present, most of coordinate unification methods align two coordinate systems through rotation and translation, but because the coordinate system in practical application is mostly a nonlinear coordinate system, the coordinate unification between different types of robots can not be accurately realized only through rotation and translation, so that the different types of robots are easy to collide when mixed in the same work site, and potential safety hazards are caused.

Disclosure of Invention

In view of the above, the present invention provides a method, an apparatus and a storage medium for multi-robot mixing, which can improve the safety of different types of robots mixing in the same work site.

In order to achieve the purpose, the invention provides the following technical scheme:

the first method for multi-robot mixing is applied to a scheduling platform, and comprises the following steps:

determining first running path information of the robot under the base mark system;

determining a slave coordinate system adopted when the robot is autonomously positioned;

determining second traveling path information under the slave coordinate system corresponding to the first traveling path information by using a preset riveting point pair set between the base coordinate system and the slave coordinate system;

and sending the second running path information to the robot so that the robot runs according to the second running path information.

The second method for multi-robot mixing is applied to the robot and comprises the following steps:

receiving third traveling path information of the robot under the base mark system, which is sent by a dispatching platform;

determining first position information of the robot under a slave coordinate system adopted by the robot for autonomous positioning;

determining second position information under the base coordinate system corresponding to the first position information by utilizing a preset riveting point pair set between the slave coordinate system and the base coordinate system;

and autonomously driving according to the third driving path information and the second position information.

The first device for multi-robot mixing is applied to a dispatching platform, and comprises: a processor, and a non-transitory computer readable storage medium connected to the processor by a bus;

the non-transitory computer readable storage medium storing one or more computer programs executable by the processor; the processor, when executing the one or more computer programs, implements the steps of:

determining a slave coordinate system adopted by the robot for autonomous positioning;

The second kind of device for multi-robot mixing is applied to the robot, and the device includes: a processor, and a non-transitory computer readable storage medium connected to the processor by a bus;

determining first position information of the robot under a slave coordinate system adopted by the autonomous robot positioning;

A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the first method for multi-robot mixing as described above, or the steps in the second method for multi-robot mixing as described above.

According to the technical scheme, two implementation methods are provided, the first method is that a dispatching platform determines second driving path information corresponding to first driving path information of a robot under a base coordinate system and under a slave coordinate system, and sends the second driving path information to the robot, so that the robot can autonomously drive according to the converted driving path information, and the method converts the driving path information under the base coordinate system into the slave coordinate system of the robot, and therefore coordinate unification is achieved; the second method is that the dispatching platform sends the third traveling path information of the robot under the base coordinate system to the robot, the robot determines the position information under the base coordinate system corresponding to the current position under the slave coordinate system adopted by the robot for autonomous positioning, and therefore the robot autonomously travels according to the traveling path information under the base coordinate system and the converted position information received from the dispatching platform. The method for unifying the coordinates between the two coordinate systems (particularly the nonlinear coordinate system) by utilizing the riveting point between the two coordinate systems is higher in precision compared with the existing method for unifying the coordinates only by rotating and translating, so that the safety of different types of robots mixed in the same working site can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention;

FIG. 3 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention;

FIG. 5 is a flow chart of a method for multi-robot mixing according to an embodiment of the present invention;

FIG. 6 is a flowchart of a method for multi-robot mixing according to a sixth embodiment of the present invention;

FIG. 7 is a graph comparing a base coordinate system and a slave coordinate system according to an embodiment of the present invention;

FIG. 8 is a flowchart of a method for multi-robot mixing according to a seventh embodiment of the present invention;

FIG. 9 is a flowchart of an eighth method for multi-robot mixing according to an embodiment of the present invention;

FIG. 10 is a flowchart illustrating a method for multi-robot mixing according to an embodiment of the present invention;

FIG. 11 is a flowchart illustrating a method for multi-robot mixing according to an embodiment of the present invention;

FIG. 12 is a flowchart of a method for multi-robot mixing according to an eleventh embodiment of the present invention;

FIG. 13 is a flowchart of a method for multi-robot mixing according to a twelfth embodiment of the present invention;

FIG. 14 is a schematic structural diagram of an apparatus for multi-robot mixing according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of an apparatus for multi-robot mixing according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the embodiment of the invention, the coordinates of a position point in the world under two coordinate systems form a pair of coordinates, which is called a rivet pair between the two coordinate systems. For example the coordinates of the location point P in the coordinate system a

And coordinates in the coordinate system B

A rivet pair (sometimes also referred to as a rivet pair) is formed, which is a rivet pair between coordinate system a and coordinate system B.

In the embodiment of the present invention, for a plurality of robots operating in the same working scene, an implementation scheme for the robots to perform mixed operations is provided, and the implementation scheme specifically includes: and on the dispatching platform side, converting the traveling path information of the robot into the traveling path information under the slave coordinate system by utilizing a riveting point pair set between a base coordinate system adopted by the dispatching platform and the slave coordinate system adopted by each robot for autonomous positioning, so that the robot travels according to the traveling path information of the robot under the slave coordinate system. It can be seen that, in essence, the embodiment performs coordinate transformation on the set by using the rivet points between the base coordinate system and the slave coordinate system used for autonomous robot positioning, so as to achieve coordinate unification, and compared with the existing method for performing coordinate unification only by rotation and translation, the method has higher precision, and therefore, the safety of mixed operation of different types of robots in the same work site can be improved.

The above embodiments are described in detail below with reference to the accompanying drawings:

referring to fig. 1, fig. 1 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a scheduling platform, and as shown in fig. 1, the method mainly includes the following steps:

step 101, determining first driving path information of a robot under a base system;

in this embodiment, the coordinate system used for the scheduling platform is referred to as a base coordinate system, and the coordinate system used for autonomous positioning of the robot is referred to as a slave coordinate system.

Step 102, determining a slave coordinate system adopted by the robot for autonomous positioning;

step 103, determining second travel path information under the slave coordinate system corresponding to the first travel path information by using a preset riveting point pair set between the base coordinate system and the slave coordinate system;

and 104, sending the second running path information to the robot so that the robot runs according to the second running path information.

As can be seen from the method shown in fig. 1, in this embodiment, after the scheduling platform determines the first travel path information of the robot under the base coordinate system, the second travel path information corresponding to the first travel information under the slave coordinate system is determined by using the preset set of riveting point pairs between the base coordinate system and the slave coordinate system used for autonomous positioning of the robot, so that the robot can travel according to the second travel path information. Coordinate unification is realized by performing coordinate transformation on the set by using the riveting points between the base coordinate system and the slave coordinate system, and compared with a method for unifying coordinates through rotation and translation, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 2, fig. 2 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a scheduling platform, and as shown in fig. 2, the method mainly includes the following steps:

step 201, determining first driving path information of the robot under a base standard system;

In this embodiment, the first travel path information includes at least one first coordinate point on a first travel path of the robot.

Step 202, determining a slave coordinate system adopted by the robot for autonomous positioning;

in this embodiment, a set of rivet point pairs between the base coordinate system and the slave coordinate system used for autonomous positioning of each robot may be configured in advance. After the first travel path information of the robot under the base coordinate system is determined, a riveting point pair set between the base coordinate system and the slave coordinate systems adopted by the robot for autonomous positioning can be determined by searching a preset base coordinate system and a riveting point pair set between the base coordinate system and the slave coordinate systems adopted by the robot for autonomous positioning.

Step 2031, selecting a target rivet pair for coordinate transformation for each first coordinate point included in the first travel path information of the robot in the rivet pair set between the base coordinate system and the slave coordinate system;

step 2032, converting the first coordinate point into a corresponding second coordinate point in the slave coordinate system according to a target rivet pair selected for each first coordinate point included in the first travel path information of the robot;

in this embodiment, the second travel route information includes: and a second coordinate point.

Step 2033 of determining a second coordinate point set composed of second coordinate points in the slave coordinate system corresponding to each first coordinate point included in the first travel path information of the robot as second travel path information.

The above steps 2031 to 2033 are specific refinements of step 103 shown in fig. 1.

And step 204, sending the second running path information to the robot so that the robot runs according to the second running path information.

As can be seen from the method shown in fig. 2, in this embodiment, after the scheduling platform determines the first travel path information of the robot under the base coordinate system, a target rivet pair is first selected for each first coordinate point included in the first travel path information, a second coordinate point corresponding to the first coordinate point under the slave coordinate system is determined by using the target rivet pair, and a set of second coordinate points under the slave coordinate system corresponding to all the first coordinate points is determined as the second travel path information, so that the robot travels according to the second travel path information. The coordinate transformation is performed on the set by using the riveting points between the base coordinate system and the slave coordinate system, and compared with the existing method for unifying the coordinates only through rotation and translation, the method has higher precision, so that the safety of different types of robots in a mixed way in the same working site can be improved.

Referring to fig. 3, fig. 3 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a scheduling platform, and as shown in fig. 3, the method mainly includes the following steps:

step 301, determining first driving path information of the robot under a base standard system;

Step 302, determining a slave coordinate system adopted by the robot for autonomous positioning;

in this embodiment, a set of rivet point pairs between the base coordinate system and the slave coordinate system used for autonomous positioning of each robot may be configured in advance. After the first travel path information of the robot under the base coordinate system is determined, a riveting point pair set between the base coordinate system and a coordinate system adopted by the robot can be determined by searching a preset base coordinate system and a riveting point pair set between slave coordinate systems adopted by the robots for autonomous positioning.

Step 3031, selecting N +1 riveting point pairs meeting a first condition from the riveting point pair set between the base coordinate system and the slave coordinate system, and determining the N +1 riveting point pairs as target riveting point pairs selected by the first coordinate point;

in this embodiment, any rivet point pair in the set of rivet point pairs includes a base coordinate point in the base coordinate system and a slave coordinate point in the slave coordinate system corresponding to the base coordinate point.

In this embodiment, N is the number of dimensions of the base coordinate system; the first condition is: the base coordinate point in the N +1 rivet point pairs can uniquely determine a linear coordinate system having the same dimension as the base coordinate system.

Here, if the base coordinate system is a linear coordinate system, the linear coordinate system in which the base coordinate points in the N +1 rivet point pairs can be uniquely determined is the base coordinate system; if the base coordinate system is a non-linear coordinate system, the linear coordinate system uniquely determined by the base coordinate points in the N +1 rivet point pairs is a coordinate system having the same dimension as the base coordinate system, and the linear coordinate system is actually equivalent to a linear coordinate system obtained by linearizing a local region of the base coordinate system, and the principle is as follows: although the base coordinate system is non-linearized, the division of the spatial extent of the base coordinate system into a plurality of smaller regions is approximately linearized within each region, which is also the theoretical basis for the subsequent execution of coordinate conversions between the base coordinate system and the slave coordinate system.

The above step 3031 is a detailed refinement of step 2031 shown in fig. 2.

Step 3032, converting the first coordinate points into corresponding second coordinate points under the slave coordinate system according to the target rivet point pairs selected for each first coordinate point included in the first travel path information of the robot;

Step 3033, determining a second coordinate point set composed of second coordinate points in the slave coordinate system corresponding to each first coordinate point included in the first travel path information of the robot as second travel path information.

The above steps 3031 to 3033 are specific refinements of the step 103 shown in fig. 1.

And step 304, sending the second running path information to the robot so that the robot runs according to the second running path information.

As can be seen from the method shown in fig. 3, in this embodiment, after the scheduling platform determines the first travel path information of the robot under the base coordinate system, by selecting a target rivet pair for each first coordinate point included in the first travel path information and determining a second coordinate point corresponding to the first coordinate point under the slave coordinate system according to the target rivet pair, a set of second coordinate points under the slave coordinate system corresponding to all the first coordinate points is determined as the second travel path information, so that the robot travels according to the second travel path information. When a target rivet point pair is selected for each first coordinate point included in the first travel path information, a rivet point pair satisfying a first condition is selected as the target rivet point pair. In this embodiment, coordinate transformation is performed on the set by using the rivet points between the base coordinate system and the slave coordinate system, and compared with the existing method for unifying coordinates only by rotation and translation, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 4, fig. 4 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a scheduling platform, and as shown in fig. 4, the method mainly includes the following steps:

step 401, determining first driving path information of the robot under a base system;

Step 402, determining a slave coordinate system adopted by the robot for autonomous positioning;

Step 4031, select N +1 rivet point pairs satisfying a first condition and a second condition from the set of rivet point pairs between the base coordinate system and the slave coordinate system, and determine the N +1 rivet point pairs as a target rivet point pair selected by the first coordinate point;

In this embodiment, N is the number of dimensions of the base coordinate system.

In this embodiment, the first condition is: the base coordinate point in the N +1 rivet point pairs can uniquely determine a linear coordinate system having the same dimension as the base coordinate system.

In this embodiment, the second condition includes at least one of the following conditions:

1) the base coordinate points in the N +1 riveting point pairs are the N +1 base coordinate points closest to the first coordinate point;

2) the first coordinate point is located in a space range defined by the base coordinate points in the N +1 riveting point pairs;

3) the distance between the base coordinate points in the N +1 riveting point pairs is not less than a preset distance threshold (for example, the preset distance threshold is 2 meters, and the distance between any two base coordinate points in the N +1 riveting point pairs is not less than 2 meters);

3) the included angle between the base coordinate point connecting lines in the N +1 riveting point pairs is not less than a preset angle threshold (for example, the preset angle threshold is 10 degrees, and the included angle between any two base coordinate point connecting lines in the N +1 riveting point pairs is not less than 10 degrees).

Step 4031 above is a specific refinement of step 2031 shown in FIG. 2.

Step 4032, converting the first coordinate points into corresponding second coordinate points in the slave coordinate system according to the target rivet pairs selected for each first coordinate point included in the first travel path information of the robot;

Step 4033, a second coordinate point set composed of second coordinate points in the slave coordinate system corresponding to each first coordinate point included in the first travel path information of the robot is determined as second travel path information.

The above steps 4031 to 4033 are specific refinements of the step 103 shown in fig. 1.

And step 404, sending the second running path information to the robot so that the robot runs according to the second running path information.

As can be seen from the method shown in fig. 4, in this embodiment, after the scheduling platform determines the first travel path information of the robot under the base coordinate system, by selecting a target rivet pair for each first coordinate point included in the first travel path information and determining a second coordinate point corresponding to the first coordinate point under the slave coordinate system by using the target rivet pair, a set of second coordinate points under the slave coordinate system corresponding to all the first coordinate points is determined as the second travel path information, so that the robot travels according to the second travel path information. When a target rivet point pair is selected for each first coordinate point included in the first travel path information, a rivet point pair satisfying both the first condition and the second condition is selected as the target rivet point pair. In this embodiment, coordinate transformation is performed on the set by using the rivet points between the base coordinate system and the slave coordinate system, and compared with the existing method for unifying coordinates only by rotation and translation, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 5, fig. 5 is a flowchart of a method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a scheduling platform, and as shown in fig. 5, the method mainly includes the following steps:

step 501, determining first driving path information of the robot under a base standard system;

Step 502, determining a slave coordinate system adopted by the robot for autonomous positioning;

Step 5031, selecting a target riveting point pair for coordinate conversion for each first coordinate point on the first travel path of the robot from the riveting point pair set between the base coordinate system and the slave coordinate system;

Step 5032a, selecting a first riveting point pair from the target riveting point pair selected for each first coordinate point;

in this embodiment, the first rivet point pair may be any one of a target rivet point pair selected for the first coordinate point.

Step 5032b, determining a first basis vector formed by the first coordinate point and the base coordinate point in the first rivet point pair

；

Step 5032c determining N second basis vectors

、

、……、

Each second basis vector is obtained according to the basis coordinate points of any two riveting point pairs in the target riveting point pair selected for the first coordinate point, and the N second basis vectors can uniquely represent a basis coordinate system;

here, the N second basis vectors can uniquely determine the base coordinate system, and actually can uniquely determine only a local region of the base coordinate system, and strictly speaking, should be a linear coordinate system having the same dimension as the base coordinate system.

Step 5032d, calculating the first base vector

And the N second basis vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

。

Step 5032e, calculating N coefficients

、

、……、

And a slave coordinate point in the first riveting point pair, and determining a second coordinate point corresponding to the first coordinate point in the slave coordinate system, wherein the second coordinate point and a first slave vector formed by the slave coordinate point in the first riveting point pair

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

And the corresponding second slave vector in the slave coordinate system.

The following explains the implementation principle of the steps 5032a to 5032e by taking a two-dimensional coordinate system as an example:

in practical applications, if the two-dimensional plane is equal-scale, the two-dimensional plane may be expressed by two non-collinear vectors, or two non-collinear vectors may determine an equal-scale two-dimensional plane. But if the planes are not isometric, i.e., non-linear, they cannot be expressed by two non-collinear vectors. Since the scale of the SLAM coordinates is non-uniform and of unknown scale, the relationship between the two coordinate systems cannot be expressed by only two pairs of non-collinear vectors. But it can be assumed that the coordinate system is linear within a certain range, and the smaller this range is taken, the smaller the error brought by this assumption.

Through the above analysis, the coordinate system can be divided into a plurality of regions, and assuming that the scale in the region is uniform, then the relationship of the region in different coordinate systems is expressed by two pairs of non-collinear vectors. In practical application, the coordinate system can be divided into regions through rivet points, then two pairs of non-collinear vectors in the region are determined through 3 rivet point pairs, and then coordinate mapping between different maps is realized through the two vectors.

Assuming that the left side is the base coordinate system and the right side is the slave coordinate system, as shown in fig. 7, there are 5 sets of rivet pairs in fig. 7: (A, A '), (B, B '), (C, C '), (E, E '), and (F, F '), point P being the coordinate point to be converted. Then when converting point P from the base coordinate system to the slave coordinate system, the known information is: the coordinates of the points A-F and the point P to be converted in the base coordinate system, and the coordinates of the points A '-F' in the slave coordinate system are known. The coordinates of the transformed point P 'in the slave coordinate system need to be solved, and how to solve the coordinates of the point P' in the slave coordinate system is described below.

First, 3 rivet point pairs satisfying the first condition are selected as a target rivet point pair for the point P ', and as shown in the figure, (a, a'), (B, B '), (C, C') are selected as target rivet point pairs, the following formula can be obtained:

i.e. vector

Passing vector

Sum vector

Expressed, it can also be said that the vector of point P is obtained

Sum vector

The coordinates in the coordinate system of the composition are (a, b).

Then the following formula is corresponded to the slave coordinate system:

when the coordinates of a ', B', C 'in the slave coordinate system are known, and (a, B) are known, the coordinates of P', i.e. the coordinates of the point P in the slave coordinate system, can be solved.

The above steps 5032a to 5032e are detailed in step 2032 shown in fig. 2.

Step 5033, determining a second coordinate point set composed of second coordinate points in the slave coordinate system corresponding to each first coordinate point included in the first travel path information of the robot as second travel path information.

The above steps 5031 to 5033 are detailed refinements of the step 103 shown in fig. 1.

And step 504, sending the second running path information to the robot so that the robot runs according to the second running path information.

As can be seen from the method shown in fig. 5, in this embodiment, after the scheduling platform determines the first travel path information of the robot under the base coordinate system, by selecting a target rivet pair for each first coordinate point included in the first travel path information and determining a second coordinate point under the slave coordinate system corresponding to the first coordinate point by using the target rivet pair, a set of second coordinate points under the slave coordinate system corresponding to all the first coordinate points is determined as the second travel path information, so that the robot travels according to the second travel path information. In addition, in the present embodiment, by solving the second coordinate point of each first coordinate point in the slave coordinate system by using the consistency of the expression of the vector in a certain area between the base coordinate system and the slave coordinate system, the precise conversion of the coordinates between the nonlinear coordinate systems can be realized. In this embodiment, coordinate transformation is performed on the set by using the rivet points between the base coordinate system and the slave coordinate system, and compared with the existing method for unifying coordinates only by rotation and translation, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 6, fig. 6 is a flowchart of a method for multi-robot mixing according to a sixth embodiment of the present invention, where the method is applied to a scheduling platform, and as shown in fig. 6, the method mainly includes the following steps:

step 601, determining first driving path information of the robot under a base standard system;

In this embodiment, the first travel path information includes at least one first coordinate point on the first travel path of the robot and an azimuth angle indicating a heading of the robot at the first coordinate point.

Step 602, determining a slave coordinate system adopted by the robot for autonomous positioning;

Step 6031, selecting a target riveting point pair for coordinate conversion for each first coordinate point on the first travel path of the robot in the riveting point pair set between the base coordinate system and the slave coordinate system;

step 6032a, for each first coordinate point, selecting a first rivet point pair from the target rivet point pair selected for the first coordinate point;

here, the first rivet point pair may be any one of a target rivet point pair selected for the first coordinate point.

Step 6032b, determine a first basis vector formed by the first coordinate point and a base coordinate point in the first rivet point pair

；

Step 5032c determining N second basis vectors

、

、……、

Each second basis vector is riveted according to the target selected for the first coordinate pointObtaining base coordinate points of any two rivet pairs in the point pairs, wherein the N second base vectors can uniquely represent a base coordinate system;

step 6032d, based on the first basis vector

And the N second basis vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

。

Step 6032e, according to the N coefficients

、

、……、

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

And the corresponding second slave vector in the slave coordinate system.

The above steps 6032a to 6032e are the same as the implementation principle of the steps 5032a to 5032 shown in fig. 5, and are not described again.

In this embodiment, the second driving path information includes a second coordinate point and an azimuth angle indicating a heading of the robot at the second coordinate point.

Step 6032f, determining an azimuth angle deviation between the base coordinate system and the slave coordinate system according to the riveting point pair set between the base coordinate system and the slave coordinate system, and determining an azimuth angle corresponding to the second coordinate system according to the angle deviation and the azimuth angle corresponding to the first coordinate system.

In practical applications, the azimuth deviation between the two coordinate systems is fixed, and the azimuth deviation between two vectors formed by two rivet pairs with the farthest distance in the rivet pair set between the two coordinate systems can be determined as the azimuth deviation between the two coordinate systems. For example, assume rivet in FIG. 7The distance between the pair of points (B, B ') and the pair of rivet points (F, F') is the farthest, i.e. the distance between BF is the largest and/or the distance between B 'F' is the largest, then the two vectors formed by the two pairs of rivet points can be determined

And

the azimuth deviation is determined as the azimuth deviation between the base coordinate system and the slave coordinate system in fig. 7.

Therefore, in this embodiment, determining the azimuth deviation between the base coordinate system and the slave coordinate system according to the set of riveting point pairs between the base coordinate system and the slave coordinate system may specifically include the following steps:

s11, selecting two riveting point pairs with the farthest distance between the base coordinate points from the riveting point pair set between the base coordinate system and the slave coordinate system;

and selecting two riveting point pairs with the farthest distance between the base coordinate points from the riveting point pair set between the base coordinate system and the slave coordinate system, and calculating the azimuth angle deviation between the base coordinate system and the slave coordinate system by using the two riveting point pairs, so that the azimuth angle deviation calculation result is more accurate. However, in practical implementation, the step S11 can also be implemented by the following method: two rivet pairs are randomly selected from a set of rivet pairs between a base coordinate system and the slave coordinate system.

S12, determining the azimuth deviation between a base vector formed by two base coordinate points in the two riveting point pairs and a slave vector formed by two slave coordinate points under a slave coordinate system corresponding to the two base coordinate points;

and S13, determining the azimuth angle deviation as the azimuth angle deviation between the base coordinate system and the slave coordinate system.

The above steps 6032a to 6032e are a detailed refinement of step 2032 shown in fig. 2.

Step 6033 determines a second coordinate point set composed of second coordinate points in the slave coordinate system corresponding to each first coordinate point included in the first travel path information of the robot as second travel path information.

The above steps 6031 to 6033 are specific refinements of step 103 shown in fig. 1.

And step 604, sending the second running path information to the robot so that the robot runs according to the second running path information.

As can be seen from the method shown in fig. 6, in this embodiment, after the scheduling platform determines the first travel path information of the robot under the base coordinate system, by selecting a target rivet pair for each first coordinate point in the first travel path information and determining a second coordinate point corresponding to the first coordinate point under the slave coordinate system by using the target rivet pair, a set of second coordinate points under the slave coordinate system corresponding to all the first coordinate points is determined as the second travel path information, so that the robot can follow the second travel path information. In addition, in the embodiment, the second coordinate point of each first coordinate point in the slave coordinate system is solved by using the consistency of the expression of the vectors in a certain area between the base coordinate system and the slave coordinate system, so that the accurate conversion of the coordinates between the nonlinear coordinate systems can be realized. In this embodiment, coordinate transformation is performed on the set by using the rivet points between the base coordinate system and the slave coordinate system, and compared with the existing method for unifying coordinates only by rotation and translation, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 8, fig. 8 is a flowchart of a method for multi-robot mixing in accordance with a seventh embodiment of the present invention, where the method is applied to a scheduling platform, as shown in fig. 8, and mainly includes the following steps:

step 801, determining first driving path information of the robot under a base standard system;

Step 802, determining a slave coordinate system adopted by the robot for autonomous positioning;

step 803, determining second travel route information in the slave coordinate system corresponding to the first travel route information by using a preset rivet point pair set between the base coordinate system and the slave coordinate system;

and step 804, sending the second running path information to the robot so that the robot can autonomously run according to the second running path information and the position information of the robot in the slave coordinate system.

As can be seen from the method shown in fig. 8, in this embodiment, after the scheduling platform determines the first travel path information of the robot under the base coordinate system, the second travel path information corresponding to the first travel information under the slave coordinate system is determined by using the preset set of riveting point pairs between the base coordinate system and the slave coordinate system used for autonomous positioning of the robot, so that the robot can autonomously travel according to the second travel path information and the current position information of the robot. Coordinate unification is realized by performing coordinate transformation on the set by using the riveting points between the base coordinate system and the slave coordinate system, and compared with a method for unifying coordinates through rotation and translation, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

In the embodiment of the present invention, for a plurality of robots operating in the same working scene, another implementation scheme for the robots to perform row mixing is further provided, and the implementation scheme specifically includes: and converting the current position of the robot into the current position under the base coordinate at one side of the robot, so that the robot can autonomously run according to the converted current position and the path running information of the robot under the base coordinate system, which is sent by the dispatching platform. According to the embodiment, the set is subjected to coordinate transformation by using the riveting point between the slave coordinate system and the base coordinate system, so that coordinate unification is realized, and compared with the existing method for unifying coordinates only through rotation and translation, the method is higher in accuracy, and therefore the safety of mixed operation of different types of robots in the same work site can be improved.

referring to fig. 9, fig. 9 is a flowchart of an eighth method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a robot, and as shown in fig. 9, the method specifically includes the following steps:

step 901, receiving third traveling path information of the robot under a base standard system, which is sent by a dispatching platform;

step 902, determining first position information of the robot in a slave coordinate system adopted by the robot for autonomous positioning;

step 903, determining second position information corresponding to the first position information under the base coordinate system by using a preset riveting point pair set between the slave coordinate system and the base coordinate system;

and 904, autonomously driving according to the third driving path information and the second position information.

As can be seen from the method shown in fig. 9, in this embodiment, after receiving the third travel path information of the robot under the base coordinate system, which is determined by the scheduling platform, the second position information of the robot under the base coordinate system, which corresponds to the first position information of the robot, is determined by using the preset set of the riveting point pairs between the slave coordinate system and the base coordinate system, which are used for autonomous positioning of the robot, so that the robot autonomously travels according to the third travel path information and the second position information. In the embodiment, coordinate unification is realized by performing coordinate transformation on the set by using the riveting point between the coordinate system and the base coordinate system, and compared with the existing method for unifying coordinates only by rotating and translating, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 10, fig. 10 is a flowchart of a method for multi-robot mixing according to the ninth embodiment of the present invention, where the method is applied to a robot, and as shown in fig. 10, the method specifically includes the following steps:

1001, receiving third traveling path information of the robot under a base system, which is sent by a dispatching platform;

step 1002, determining first position information of the robot under a slave coordinate system adopted by the robot for autonomous positioning;

in this embodiment, the first location information includes a first location point.

Step 10031, selecting a target rivet pair for coordinate transformation for the first position point in the first position information in the rivet pair set between the slave coordinate system and the base coordinate system;

in this embodiment, the second location information includes a second location point.

Step 10032, converting the first location point to a corresponding second location point in the base coordinate system according to the selected target rivet pair for the first location point.

The above steps 10031 to 10032 are detailed refinements of step 903 shown in fig. 9.

And a step 1004 of autonomously driving according to the third driving path information and the second position information.

As can be seen from the method shown in fig. 10, in this embodiment, after receiving the third travel path information of the robot under the base coordinate system, which is determined by the scheduling platform, the target rivet pair is selected as the first position information from the rivet point pair set between the coordinate system and the base coordinate system, which is adopted by the robot and is configured in advance, and the second position information under the base coordinate system, which corresponds to the first position information, is determined according to the target rivet pair, so that the robot autonomously travels according to the third travel path information and the second position information. In the embodiment, coordinate unification is realized by performing coordinate transformation on the set by using the riveting point between the coordinate system and the base coordinate system, and compared with the existing method for unifying coordinates only by rotating and translating, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 11, fig. 11 is a flowchart of a ten-way method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a robot, as shown in fig. 11, and specifically includes the following steps:

step 1101, receiving third traveling path information of the robot under a base standard system, which is sent by a dispatching platform;

step 1102, determining first position information of the robot under a slave coordinate system adopted by the robot for autonomous positioning;

Step 11031, selecting N +1 riveting point pairs satisfying a third condition from the set of riveting point pairs between the coordinate system and the base coordinate system, and determining the N +1 riveting point pairs as a target riveting point pair selected by the first position point in the first position information;

in this embodiment, any rivet point pair in the set of rivet point pairs between the slave coordinate system and the base coordinate system includes: and the slave coordinate point in the slave coordinate system and the base coordinate point in the base coordinate system corresponding to the slave coordinate point.

In this embodiment, N is the number of dimensions of the slave coordinate system. The third condition is: the slave coordinate points in the N +1 rivet point pairs can uniquely determine a linear coordinate system with the same dimension as the slave coordinate system.

Here, if the slave coordinate system is a linear coordinate system, the linear coordinate system in the N +1 rivet point pairs, in which the slave coordinate point can be uniquely determined, is the slave coordinate system; if the slave coordinate system is a non-linear coordinate system, the linear coordinate system uniquely identifiable by the slave coordinate point in the N +1 rivet point pairs is a coordinate system having the same dimensions as the slave coordinate system, and the linear coordinate system is actually equivalent to a linear coordinate system obtained by linearizing a local area of the slave coordinate system, and the principle is as follows: although the slave coordinate system is non-linearized, dividing the spatial extent of the slave coordinate system into a plurality of smaller regions is approximately linearized within each region, which is also the theoretical basis for subsequently performing coordinate transformations of the slave coordinate system and the base coordinate system.

The above step 11031 is a detailed refinement of step 10031 shown in fig. 10;

Step 11032, converting the first position point into a corresponding second position point under the base coordinate system according to the target rivet pair selected for the first position point.

The above steps 11031 to 11032 are specific refinements of step 903 shown in fig. 9.

And step 1104, autonomously driving according to the third driving path information and the second position information.

As can be seen from the method shown in fig. 11, in this embodiment, after receiving the third travel path information of the robot under the base coordinate system, which is determined by the scheduling platform, a target rivet pair satisfying a third condition is selected from a set of rivet pairs between a coordinate system and a base coordinate system, which is used for autonomous positioning of the robot, which is configured in advance, and second position information under the base coordinate system, which corresponds to the first position information, is determined according to the target rivet pair, so that the robot autonomously travels according to the third travel path information and the second position information. In the embodiment, coordinate unification is realized by performing coordinate transformation on the set by using the riveting point between the coordinate system and the base coordinate system, and compared with the existing method for unifying coordinates only by rotating and translating, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 12, fig. 12 is a flowchart of an eleventh method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a robot, and as shown in fig. 12, the method specifically includes the following steps:

step 1201, receiving third traveling path information of the robot under a base system, which is sent by a dispatching platform;

step 1202, determining first position information of the robot under a slave coordinate system adopted by the robot for autonomous positioning;

Step 12031, selecting N +1 riveting point pairs satisfying a third condition and a fourth condition from the riveting point pair set between the coordinate system and the base coordinate system, and determining the N +1 riveting point pairs as a target riveting point pair selected by the first position point in the first position information;

in this embodiment, any rivet point pair in the set of rivet point pairs between the slave coordinate system and the base coordinate system includes: the slave coordinate point under the slave coordinate system and the base coordinate point under the base coordinate system corresponding to the slave coordinate point;

in this embodiment, N is the number of dimensions of the slave coordinate system.

The third condition is: the slave coordinate point in the N +1 riveting point pairs can uniquely determine a linear coordinate system with the same dimension as the slave coordinate system;

the fourth condition includes at least one of the following conditions:

1) n +1 secondary coordinate points closest to the first position under the condition that the secondary coordinate point positions in the N +1 riveting point pairs meet a third condition;

2) the first position is located within a spatial range defined by the slave coordinate points in the N +1 rivet point pairs;

3) the distance between the slave coordinate points in the N +1 rivet point pairs is not less than a preset distance threshold (for example, the preset distance threshold is 2 meters;

4) the distance between any two base coordinate points in the N +1 riveting point pairs is not less than 2 meters), and/or the included angle between the secondary coordinate point connecting lines in the N +1 riveting point pairs is not less than a preset angle threshold (for example, the preset angle threshold is 10 degrees, and the included angle between any two base coordinate point connecting lines in the N +1 riveting point pairs is not less than 10 degrees).

The above step 12031 is a detailed refinement of step 10031 shown in fig. 10.

Step 12032, convert the first location point to a corresponding second location point in the base coordinate system based on the selected target rivet pair for the first location point.

The above steps 12031 to 12032 are specific refinements of step 903 shown in fig. 9.

And step 1204, autonomously driving according to the third driving path information and the second position information.

As can be seen from the method shown in fig. 12, in this embodiment, after receiving the third travel path information of the robot under the base coordinate system, which is sent by the scheduling platform, the target rivet pair satisfying the third condition and the fourth condition is selected from the set of rivet pairs between the coordinate system and the base coordinate system, which is adopted by the robot in advance, and the second position information under the base coordinate system corresponding to the first position information is determined according to the selected target rivet pair, so that the robot autonomously travels according to the third travel path information and the second position information. In the embodiment, coordinate unification is realized by performing coordinate transformation on the set by using the riveting point between the coordinate system and the base coordinate system, and compared with the existing method for unifying coordinates only by rotating and translating, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

Referring to fig. 13, fig. 13 is a flowchart of a twelve method for multi-robot mixing according to an embodiment of the present invention, where the method is applied to a robot, and as shown in fig. 13, the method specifically includes the following steps:

step 1301, receiving third traveling path information of the robot under a base system, which is sent by a dispatching platform;

step 1302, determining first position information of the robot under a slave coordinate system adopted by the robot for autonomous positioning;

in this embodiment, the first location information includes a first location point and an azimuth angle indicating a heading of the robot at the first location point.

Step 13031, selecting a target riveting point pair for coordinate conversion for the first position point in the first position information in the riveting point pair set between the slave coordinate system and the base coordinate system;

step 13032a, selecting a second riveting point pair from the target riveting point pair selected for the first position point;

in this embodiment, the second rivet point pair may be any one of the target rivet point pairs selected for the first position point.

Step 13032b, determining a third slave vector formed by the first position point and the slave coordinate point in the second rivet point pair

；

Step 13032c, determining N fourth slave vectors

、

、……、

Each fourth slave vector is obtained according to the slave coordinate points of any two rivet points in the target rivet point pair selected for the first position point, and the N fourth slave vectors can uniquely represent the slave coordinate system;

here, the N fourth slave vectors can uniquely determine the slave coordinate system, and actually can uniquely determine only a local region of the slave coordinate system, and strictly speaking, should be a linear coordinate system having the same dimension as the slave coordinate system.

Step 13032d, according to the third slave vector

And the N fourth slave vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

；

Step 13032e for obtaining the N coefficients

、

、……、

And a base coordinate point in the second riveting point pair, determining a second position point corresponding to the first position point under the base coordinate system, and determining a third base vector formed by the second position point and the base coordinate point in the second riveting point pair

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

A corresponding fourth basis vector in the basis coordinate system.

The following explains the implementation principle of the above steps 13032a to 13032e by taking a two-dimensional coordinate system as an example:

Still taking fig. 7 as an example, assuming that the left side is the base coordinate system and the right side is the slave coordinate system, there are 5 sets of rivet pairs in fig. 7: (A ', A), (B', B), (C ', C), (E', E), and (F ', F), the point P' being a coordinate point to be converted. Then when converting point P' from the coordinate system to the base coordinate system, the known information is: the coordinates of the points A ' -F ' and the point P ' to be converted in the secondary coordinate system, the coordinates of the points A-F in the primary coordinate system are known. The coordinates of the transformed point P in the base coordinate system need to be solved, and how to solve the coordinates of the point P in the base coordinate system is described below.

First, 3 rivet point pairs satisfying the third condition are selected as the target rivet point pair for the point P ', and as shown in the figure, (a', a), (B ', B), (C', C) are selected as the target rivet point pair, the following formula is obtained:

i.e. vector

Passing vector

Sum vector

Expressed, it can also be said that the point P' is found in the vector and the vector

The coordinates in the coordinate system of the composition are (a, b).

Then the following formula is corresponded to the slave coordinate system:

at this point A, B, C the coordinates in the base coordinate system are known, and (a, b) are known, so the coordinates of P, i.e. the coordinates in the base coordinate system to which point P' corresponds, can be solved.

Step 13032f, determining an azimuth angle deviation between the slave coordinate system and the base coordinate system according to the riveting point pair set between the slave coordinate system and the base coordinate system, and determining an azimuth angle of the second position point according to the azimuth angle deviation and the azimuth angle of the first position point.

In practical applications, the azimuth deviation between the two coordinate systems is fixed, and the azimuth deviation between two vectors formed by two rivet pairs with the farthest distance in the rivet pair set between the two coordinate systems can be determined as the azimuth deviation between the two coordinate systems. For example, assuming that the distance between the rivet pair (B, B ') and the rivet pair (F, F') is farthest in fig. 7, i.e., the distance between BF is the largest and/or the distance between B 'F' is the largest, two vectors formed by the rivet pairs can be determined

And

the azimuth deviation is determined as the slave coordinate system and the base coordinate system in FIG. 7The azimuthal deviation therebetween.

Therefore, in this embodiment, determining the azimuth deviation between the slave coordinate system and the base coordinate system according to the set of riveting point pairs between the slave coordinate system and the base coordinate system may specifically include the following steps:

s21, selecting two riveting point pairs with the farthest distances from the coordinate points from the riveting point pair set between the slave coordinate system and the base coordinate system;

s22, determining the azimuth deviation between a slave vector formed by two slave coordinate points in the two riveting point pairs and a base vector formed by two base coordinate points corresponding to the two slave coordinate points in a base coordinate system;

and S23, determining the azimuth angle deviation as the azimuth angle deviation between the slave coordinate system and the base coordinate system.

The above steps 13032a to 12032f are specific refinements of step 10032 shown in fig. 10.

The above steps 13031 to 12032f are specific refinements of step 903 shown in fig. 9.

In this embodiment, the second position information includes a second position point and an azimuth angle indicating a heading of the robot at the second position point.

In this embodiment, after the coordinates of the second position point and the azimuth angle of the second position point are determined, the coordinates of the second position point and the azimuth angle of the second position point are determined as second position information of the robot in the base coordinate system.

And 1304, autonomously driving according to the third driving path information and the second position information.

As can be seen from the method shown in fig. 13, in this embodiment, after receiving the third travel path information of the robot under the base coordinate system, which is determined by the scheduling platform, the robot converts the first position information into the corresponding second position information under the base coordinate system by using the target rivet pair selected from the rivet pair set between the coordinate system and the base coordinate system, which is adopted by the robot and is configured in advance, so as to autonomously travel according to the third travel path information and the second position information. In addition, in the embodiment, the second coordinate point of each first coordinate point in the slave coordinate system is solved by using the consistency of the expression of the vectors in a certain area between the base coordinate system and the slave coordinate system, so that the accurate conversion of the coordinates between the nonlinear coordinate systems can be realized. In the embodiment, coordinate unification is realized by performing coordinate transformation on the set by using the riveting point between the coordinate system and the base coordinate system, and compared with the existing method for unifying coordinates only by rotating and translating, the method has higher precision, so that the safety of mixed operation of different types of robots in the same work site can be improved.

An embodiment of the present invention further provides a device for multi-robot mixing, where the device is applied to a scheduling platform, as shown in fig. 14, and the device includes: a processor 1401, and a non-transitory computer-readable storage medium 1402 connected to the processor 1401 via a bus;

the non-transitory computer readable storage medium 1402 storing one or more computer programs executable by the processor 1401; the processor 1401 when executing the one or more computer programs realizes the following steps:

In the device shown in figure 14 of the drawings,

the robot travels according to the second travel path information, including:

and the robot autonomously travels according to the second travel path information and the position information of the robot under the slave coordinate system.

In the device shown in figure 14 of the drawings,

the first travel path information includes at least one first coordinate point on a first travel path of the robot;

the processor 1401 determines second travel route information in the slave coordinate system corresponding to the first travel route information, using a set of rivet point pairs between a base coordinate system and the slave coordinate system, which are arranged in advance, and includes:

selecting a target rivet point pair for coordinate conversion for each first coordinate point included in the first travel path information of the robot in a rivet point pair set between a base coordinate system and the slave coordinate system;

converting the first coordinate points into corresponding second coordinate points under the slave coordinate system according to the target rivet point pairs selected for each first coordinate point included in the first travel path information of the robot;

and determining a second coordinate point set consisting of second coordinate points under the slave coordinate system corresponding to each first coordinate point included in the first travel path information of the robot as second travel path information.

In the device shown in figure 14 of the drawings,

any riveting point pair in the riveting point pair set comprises a base coordinate point under a base coordinate system and a slave coordinate point under the slave coordinate system corresponding to the base coordinate point;

the processor 1401, in a set of rivet point pairs between a base coordinate system and the slave coordinate system, selects a target rivet point pair for coordinate conversion for each first coordinate point included in the first travel path information of the robot, and includes:

selecting N +1 riveting point pairs satisfying a first condition from a set of riveting point pairs between a base coordinate system and the slave coordinate system, and determining the N +1 riveting point pairs as target riveting point pairs selected by the first coordinate point;

wherein N is the number of dimensions of the base coordinate system; the first condition is: the base coordinate point in the N +1 rivet point pairs can uniquely determine a linear coordinate system having the same dimension as the base coordinate system.

In the device shown in figure 14 of the drawings,

selecting N +1 rivet point pairs satisfying a first condition and a second condition from a set of rivet point pairs between a base coordinate system and the slave coordinate system, and determining the N +1 rivet point pairs as a target rivet point pair selected by the first coordinate point;

wherein N is the number of dimensions of the base coordinate system; the first condition is: the base coordinate point in the N +1 riveting point pairs can uniquely determine a linear coordinate system with the same dimensionality as the base coordinate system;

the second condition includes at least one of the following conditions: the base coordinate point in the N +1 riveting point pairs is the nearest N +1 base coordinate points from the first coordinate point, the first coordinate point is located in a space range defined by the base coordinate points in the N +1 riveting point pairs, the distance between the base coordinate points in the N +1 riveting point pairs is not smaller than a preset distance threshold, and the included angle between the base coordinate point connecting lines in the N +1 riveting point pairs is not smaller than a preset angle threshold.

In the device shown in figure 14 of the drawings,

the processor 1401, which converts each first coordinate point included in the first travel path information of the robot into a corresponding second coordinate point in the slave coordinate system according to a target rivet pair selected for the first coordinate point, includes:

for each first coordinate point, selecting a first riveting point pair from the target riveting point pair selected for the first coordinate point;

determining a first base vector formed by the first coordinate point and the base coordinate point in the first rivet point pair

；

Determining N second basis vectors

、

、……、

according to the first base vector

And the N second basis vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

；

According to the N coefficients

、

、……、

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

And the corresponding second slave vector in the slave coordinate system.

In the device shown in figure 14 of the drawings,

the first travel path information further comprises an azimuth angle used for indicating the heading of the robot at the first coordinate point;

the second driving path information further comprises an azimuth angle used for indicating the heading of the robot at a second coordinate point;

the processor 1401, which converts each first coordinate point on the first travel path of the robot into a corresponding second coordinate point in the slave coordinate system according to a target rivet pair selected for the first coordinate point, includes:

；

Determining N second basis vectors

、

、……、

according to the first base vector

And the N second basis vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

；

According to the N coefficients

、

、……、

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

And the corresponding second slave vector in the slave coordinate system.

And determining the azimuth angle deviation between the base coordinate system and the slave coordinate system according to the riveting point pair set, and determining the azimuth angle of the second coordinate point according to the angle deviation and the azimuth angle of the first coordinate point.

In the device shown in figure 14 of the drawings,

the processor 1401, according to the set of riveting point pairs, determines an azimuth deviation between the base coordinate system and the slave coordinate system, and includes:

selecting two riveting point pairs with the farthest distance between the base coordinate points from the riveting point pair set;

determining the azimuth deviation between a base vector formed by two base coordinate points in the two riveting point pairs and a slave vector formed by two slave coordinate points under a slave coordinate system corresponding to the two base coordinate points;

the azimuth deviation is determined as the azimuth deviation between the base coordinate system and the slave coordinate system.

Another apparatus for multi-robot mixing is provided in an embodiment of the present invention, where the apparatus is applied to a robot, as shown in fig. 15, and the apparatus includes: a processor 1501, and a non-transitory computer readable storage medium 1502 connected to the processor 1501 through a bus;

the non-transitory computer readable storage medium 1502 storing one or more computer programs executable by the processor 1501; the processor 1501, when executing the one or more computer programs, performs the steps of:

In the arrangement shown in figure 15 of the drawings,

the first location information comprises a first location point;

the processor 1501 determines second position information in the base coordinate system corresponding to the first position information by using a preset set of riveting point pairs between the slave coordinate system and the base coordinate system, and includes:

selecting a target riveting point pair for coordinate conversion for a first position point in the first position information in the riveting point pair set between the slave coordinate system and the base coordinate system;

and converting the first position point into a corresponding second position point under the base coordinate system according to the selected target riveting point pair for the first position point.

In the arrangement shown in figure 15 of the drawings,

any riveting point pair in the riveting point pair set comprises a slave coordinate point in the slave coordinate system and a base coordinate point in the base coordinate system corresponding to the slave coordinate point;

the processor 1501, in the set of rivet point pairs between the slave coordinate system and the base coordinate system, selects a target rivet point pair for coordinate transformation for a first position point in the first position information, and includes:

selecting N +1 riveting point pairs satisfying a third condition from the set of riveting point pairs between the coordinate system and the base coordinate system, and determining the N +1 riveting point pairs as a target riveting point pair selected by the first position point;

wherein N is the number of dimensions of the slave coordinate system; the third condition is: the slave coordinate points in the N +1 rivet point pairs can uniquely determine a linear coordinate system with the same dimension as the slave coordinate system.

In the arrangement shown in figure 15 of the drawings,

the processor 1501, in the set of rivet point pairs between the slave coordinate system and the base coordinate system, selects a target rivet point pair for coordinate transformation for a first position point of the first position information, and includes:

selecting N +1 rivet point pairs satisfying a third condition and a fourth condition from the rivet point pair set between the coordinate system and the base coordinate system, and determining the N +1 rivet point pairs as a target rivet point pair selected by the first position point;

wherein N is the number of dimensions of the slave coordinate system; the third condition is: the slave coordinate point in the N +1 riveting point pairs can uniquely determine a linear coordinate system with the same dimension as the slave coordinate system;

the fourth condition includes at least one of the following conditions: the secondary coordinate points in the N +1 riveting point pairs are the N +1 secondary coordinate points closest to the first position point, the first position point is located in a space range defined by the secondary coordinate points in the N +1 riveting point pairs, the distance between the secondary coordinate points in the N +1 riveting point pairs is not smaller than a preset distance threshold, and the included angle between connecting lines of the secondary coordinate points in the N +1 riveting point pairs is not smaller than a preset angle threshold.

In the arrangement shown in figure 15 of the drawings,

the first location information further comprises an azimuth angle indicating a heading of the robot at the first location point;

the second location information further comprises an azimuth angle indicating the heading of the robot at the second location point;

the processor 1501, based on the selected target rivet pair for the first location point, converts the first location point to a corresponding second location point in the base coordinate system, including:

selecting a second rivet point pair from the target rivet point pair selected for the first position point;

determining a third slave vector formed by the first position point and a slave coordinate point in the second rivet point pair

；

Determining N fourth slave vectors

、

、……、

according to the third slave vector

And the N fourth slave vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

；

According to the N coefficients

、

、……、

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

A corresponding fourth base vector under the base coordinate system;

and determining the azimuth angle deviation between the slave coordinate system and the base coordinate system according to the riveting point pair set, and determining the azimuth angle of the second position point according to the azimuth angle deviation and the azimuth angle of the first position point.

In the arrangement shown in figure 15 of the drawings,

the processor 1501 determines an azimuth deviation between the slave coordinate system and the base coordinate system according to the set of rivet point pairs, including:

selecting two riveting point pairs with the farthest distances from the coordinate points from the riveting point pair set between the slave coordinate system and the base coordinate system;

determining an azimuth deviation between a slave vector formed by two slave coordinate points in the two riveting point pairs and a base vector formed by two base coordinate points under a base coordinate system corresponding to the two slave coordinate points;

the azimuth deviation is determined as the azimuth deviation between the slave coordinate system and the base coordinate system.

Embodiments of the present invention also provide a non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the method for multi-robot mixing as shown in any one of the flowcharts of fig. 1 to 6, or the steps in the method for multi-robot mixing as shown in any one of the flowcharts of fig. 8 to 13.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A method for multi-robot mixing is applied to a scheduling platform, and is characterized by comprising the following steps:

2. The method of claim 1,

the robot travels according to the second travel path information, including:

3. The method of claim 1,

the method for determining the second travel path information under the slave coordinate system corresponding to the first travel path information by using a preset rivet point pair set between a base coordinate system and the slave coordinate system comprises the following steps:

4. The method of claim 3,

the selecting, in the set of rivet point pairs between the base coordinate system and the slave coordinate system, a target rivet point pair for coordinate conversion for each first coordinate point included in the first travel path information of the robot includes:

5. The method of claim 3,

6. The method of claim 3, wherein any rivet point pair in the set of rivet point pairs comprises a base coordinate point in a base coordinate system and a slave coordinate point in the slave coordinate system corresponding to the base coordinate point;

converting the first coordinate points into corresponding second coordinate points under the slave coordinate system according to the selected target rivet pair for each first coordinate point included in the first travel path information of the robot, including:

；

Determining N second basis vectors

、

、……、

according to the first base vector

And the N second basis vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

；

According to the N coefficients

、

、……、

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

And the corresponding second slave vector in the slave coordinate system.

7. The method of claim 3,

converting each first coordinate point on the first travel path of the robot into a corresponding second coordinate point under the slave coordinate system according to the selected target rivet point pair, comprising:

；

Determining N second basis vectors

、

、……、

according to the first base vector

And the N second basis vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

；

According to the N coefficients

、

、……、

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

A corresponding second slave vector in the slave coordinate system;

8. The method of claim 7,

determining an azimuth deviation between a base coordinate system and the slave coordinate system according to the set of riveting point pairs, comprising:

9. A method for multi-robot mixing is applied to a robot, and is characterized by comprising the following steps:

10. The method of claim 9,

the first location information comprises a first location point;

determining second position information under the base coordinate system corresponding to the first position information by using a preset riveting point pair set between the slave coordinate system and the base coordinate system, wherein the second position information comprises:

11. The method of claim 10,

in the set of rivet point pairs between the slave coordinate system and the base coordinate system, selecting a target rivet point pair for coordinate transformation for a first position point in the first position information, includes:

12. The method of claim 10,

in the set of rivet point pairs between the slave coordinate system and the base coordinate system, selecting a target rivet point pair for coordinate transformation for a first position point of the first position information, includes:

13. The method of claim 9,

converting the first location point to a corresponding second location point in the base coordinate system according to the selected target rivet pair for the first location point, comprising:

；

Determining N fourth slave vectors

、

、……、

according to the third slave vector

And the N fourth slave vectors

、

、……、

Determining N coefficients

、

、……、

The N coefficients satisfy

；

According to the N coefficients

、

、……、

Satisfy the requirement of

Wherein

、

、……、

Are respectively

、

、……、

A corresponding fourth base vector under the base coordinate system;

14. The method of claim 13,

determining an azimuth deviation between the slave coordinate system and the base coordinate system according to the set of riveting point pairs, including:

15. A device for multi-robot mixing is applied to a dispatching platform and is characterized by comprising: a processor, and a non-transitory computer readable storage medium connected to the processor by a bus;

determining first running path information of the robot under a base coordinate system;

16. A device for multi-robot mixed traveling is applied to a robot, and is characterized by comprising: a processor, and a non-transitory computer readable storage medium connected to the processor by a bus;

receiving third traveling path information of the robot under the base coordinate system, which is sent by a dispatching platform;

17. A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the method for multi-robot mixing of rows of any one of claims 1 to 8 or the steps in the method for multi-robot mixing of rows of any one of claims 9 to 14.