WO2021068699A1 - 机器人控制方法、电子设备及计算机可读存储介质 - Google Patents

机器人控制方法、电子设备及计算机可读存储介质 Download PDF

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Publication number
WO2021068699A1
WO2021068699A1 PCT/CN2020/114017 CN2020114017W WO2021068699A1 WO 2021068699 A1 WO2021068699 A1 WO 2021068699A1 CN 2020114017 W CN2020114017 W CN 2020114017W WO 2021068699 A1 WO2021068699 A1 WO 2021068699A1
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WO
WIPO (PCT)
Prior art keywords
robot
information
communication
operating environment
local
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PCT/CN2020/114017
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English (en)
French (fr)
Inventor
杨志钦
常智胜
王翔宇
刘俊斌
陈诗雨
虞坤霖
Original Assignee
炬星科技（深圳）有限公司
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Publication of WO2021068699A1 publication Critical patent/WO2021068699A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators

Definitions

  • This application relates to the field of network communication technology, and in particular to a robot control method, electronic equipment, and computer-readable storage medium.
  • AGV Automated Guided Guided Vehicle
  • AMR Autonomous Mobile Robot
  • AMR robots At present, the main way for AMR robots to obtain, exchange and process information is through interaction with cloud servers.
  • the efficiency of robot information acquisition, exchange, and processing is severely restricted by the performance of the cloud server and network communication performance, and the stability is poor and the efficiency is low. This factor will also restrict the improvement of the overall operating efficiency of the robot cluster.
  • the main purpose of this application is to propose a robot control method, electronic equipment, and computer-readable storage medium, which aims to enable the robot to quickly establish local dynamic communication and share information related to the task with other robots during the working process. Effectively reduce latency, speed up transmission, and improve the overall efficiency of robot information sharing.
  • the present application provides a robot control method applied to a first robot.
  • the method includes: responding to a local communication event, controlling to send local communication request information to a second robot; The communication response information fed back by the local communication request; determining that the communication response information satisfies a communication requirement condition, and controlling the first robot to establish a local dynamic communication with the second robot, wherein the communication requirement condition is based on the first A condition determined by the operating environment information of the robot.
  • the present application also provides a robot control method applied to a second robot.
  • the method includes: receiving partial communication request information sent by the first robot; when it is determined that the partial communication request information satisfies a communication response condition, control is directed to the first robot.
  • a robot sends communication response information; when it is determined that the local communication request information does not meet the communication response condition, control refuses to send communication response information to the first robot, wherein the communication response condition is based on the operation of the second robot Conditions determined by environmental information.
  • the present application also provides an electronic device, the electronic device includes: a processor; a memory, connected to the processor, the memory contains a control instruction, when the processor reads the control instruction, control the The electronic device implements the above-mentioned robot control method or robot control method.
  • the present application also provides a computer-readable storage medium, the computer-readable storage medium has one or more programs, and the one or more programs are executed by one or more processors to implement the above-mentioned robot control method or robot Control Method.
  • the robot control method, electronic equipment, and computer-readable storage medium control the sending of local communication request information to a second robot by responding to a local communication event; receiving a communication response fed back by the second robot according to the local communication request Information; determining that the communication response information satisfies a communication requirement condition, and controlling the first robot to establish a local dynamic communication with the second robot, wherein the communication requirement condition is determined according to the operating environment information of the first robot condition.
  • Fig. 1 is a flowchart of a robot control method provided by an embodiment of the application.
  • Fig. 2 is a flowchart of a robot control method provided by an embodiment of the application.
  • FIG. 3 is a flowchart of a robot control method provided by an embodiment of the application.
  • Fig. 4 is a flowchart of a robot control method provided by an embodiment of the application.
  • FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the application.
  • the term “storage medium” can be various media that can store computer programs, such as ROM, RAM, magnetic disk, or optical disk, unless otherwise clearly specified and limited.
  • the term “processor” can be CPLD (Complex Programmable Logic Device), FPGA (Field-Programmable Gate Array), MCU (Microcontroller Unit), PLC (Programmable Logic) Con-troller: programmable logic controller) and CPU (CentralProcessing Unit: Central Processing Unit) and other chips or circuits with data processing functions.
  • the term "electronic device” can be any device with data processing functions and storage functions, and can generally include fixed terminals and mobile terminals. Fixed terminals such as desktop computers, etc. Mobile terminals such as mobile phones, PADs, and mobile robots. In addition, the technical features involved in the different embodiments of the present invention described later can be combined with each other as long as they do not conflict with each other.
  • Fig. 1 is a flowchart of an embodiment of a robot control method provided by the present application.
  • the control method can be applied to any robot. It should be noted that the robot control method is applied to the first robot, and the first robot communicates with the second robot. In a warehouse environment, there may be multiple robots, and the number of second robots may be one or multiple. The first robot and the second robot are just to facilitate the description of the solution. In a storage environment, the roles of the first robot and the second robot can be exchanged, which does not affect the implementation of the solution. Wherein, each step may be performed sequentially in the sequence as in the flowchart during operation, or multiple steps may be performed at the same time according to actual conditions, which is not limited here.
  • the robot control method provided by the present application includes the following steps: step S110, responding to a local communication event, controlling to send local communication request information to a second robot; step S120, receiving communication response information fed back by the second robot according to the local communication request Step S130, determining that the communication response information satisfies a communication requirement condition, and controlling the first robot to establish a local dynamic communication with the second robot, wherein the communication requirement condition is based on the operating environment information of the first robot Certain conditions.
  • control in response to a local communication event, control sends a local communication request message to the second robot.
  • the robots autonomously move in the storage environment by means of automatic navigation and complete the designated tasks.
  • Different robots may have overlapping pick-up positions or conflicts of movement paths during the execution of tasks.
  • the robots need to adjust the execution method according to the situation in real time, for example, change the path to move, or queue and wait in a specific area.
  • different robots need to send their own operating environment information to other robots, so that other robots can adjust the way to complete the task according to the operating environment information, and at the same time receive operating environment information sent by other robots to adjust One's own way of completing homework tasks.
  • the operating environment information includes at least one of the following information: physical environment information, robot information, and business environment information, where the physical environment information is the working environment information of the robot, and the robot information is the robot.
  • the business environment information is the task information currently performed by the robot.
  • the local communication event is an event that triggers the first robot to send out the local communication request information.
  • the local communication event may be one or more of the following: determining that the first robot has received task information; determining that the first robot is on and on standby; determining that the first robot is in accordance with The task information is in a working state; and it is determined that the robot is in a charging state. For example, after the first robot receives task information sent by the system or manually input, the control system of the first robot controls the first robot to send local communication request information to the second robot.
  • the local communication event may also be to determine that the first robot has the ability to communicate with other robots or devices. In other embodiments, the local communication event may also be based on different stages of completion of the received task information, for example, the pick-up stage, the turning stage in the moving path, and so on.
  • the local communication request information is determined based on the operating environment information of the first robot.
  • the first robot can set up corresponding local dynamic communication according to the actual situation to facilitate information sharing and communication.
  • the step of controlling the sending of local communication request information to the second robot includes: step S1101, acquiring first operating environment information of the first robot; step S1102, controlling to generate a local communication request according to the first operating environment information Information, wherein the partial communication request information includes the operating environment request information corresponding to the first operating environment information; step S1103, controlling to send the partial communication request information to the second robot; specifically, in step S1101,
  • the first operating environment information is one or more of physical environment information, robot information, and business environment information of the first robot.
  • the physical environment information is the working environment information of the robot, for example, the position information of the robot;
  • the robot information is the parameter information of the robot, for example, the model information of the robot;
  • the business environment information is the position information of the robot.
  • the local communication request information includes operating environment request information corresponding to the first operating environment information, so that the local communication request information is associated with the first operating environment information of the first robot, so that the first robot can Subsequently, it is determined according to the communication response information associated with the first operating environment information fed back by other second robots that it is necessary to establish a second robot for local dynamic communication.
  • the local communication request information includes operating environment request information corresponding to the first operating environment information, and the environment request information is used to request other second robots for their model information.
  • the operating environment request information is model request information, and the model request information is used to request other second robots for its model information
  • the first operating environment When the information is the position information of the robot the operating environment request information is the position request information, which is used to request the position information of other second robots
  • the first operating environment information is the current execution of the robot
  • the operating environment request information is task request information, which is used to request other second robots for their task information
  • the first operating environment information is the staying point information of the robot, the operating environment request The information is stay point request information, and the model request information is used to request other second robots for their stay point information.
  • step S1103 the local communication request information including the operating environment request information is sent to the second robot. It should be noted that although the first robot and the second robot can communicate at this time, they do not communicate locally, but communicate through a server or the like.
  • the first robot can send corresponding local communication request information according to actual needs, so that the second robot that needs to establish local dynamic communication can be screened out from the received communication response information, so as to share and receive Actually, relevant information is needed to control the first robot to perform operations.
  • step S120 receiving communication response information fed back by the second robot according to the local communication request.
  • the communication response information includes the second operating environment information fed back by the second robot according to the operating environment request information.
  • the content of the second operating environment information is one or more of physical environment information, robot information, and business environment information of the second robot.
  • the physical environment information is the working environment information of the robot, for example, the position information of the robot;
  • the robot information is the parameter information of the robot, for example, the model information of the robot;
  • the business environment information is the position information of the robot.
  • State the task information currently performed by the robot for example, go to the cabinet numbered a to pick up the goods.
  • the communication response information includes the model information of the second robot; when the operating environment information is the position information of the robot, the communication response information includes the position of the second robot Information; when the operating environment information is the task information currently performed by the robot, the communication response information includes the task information of the second robot; when the operating environment information is the staying point information of the robot, the communication response information includes the second robot Staying point information.
  • step S130 it is determined that the communication response information satisfies the communication requirement condition, and the first robot is controlled to establish local dynamic communication with the second robot.
  • the communication demand condition is a condition determined according to the operating environment information of the first robot.
  • the communication requirement condition is used for the first robot to determine whether to perform local dynamic communication according to the received communication response information fed back by the second robot.
  • the communication requirement condition is meeting a preset numerical threshold or matching a preset keyword.
  • the communication requirement condition can be a physical radius range determined with the location information of the first robot as the center. In this way, the first robot can be Establish local dynamic communication with a second robot within a specific physical radius; if the operating environment request information in the local communication request information is model information, the communication requirement condition can be the same as the model information or the same series, through this In this way, the first robot can establish local dynamic communication with the second robot of the same model or the same series, so that the parameter information or other information possessed or applicable to a specific model can be quickly shared with each other; if the local communication request information When the operating environment request information is task information, the communication requirement condition can be the same as the task information or have an overlapping relationship.
  • the first robot can be made to perform the same task information or have an overlapping relationship with the second robot Establish local dynamic communication so that task-related information (such as staying point, container status, queue number, etc.) can be quickly shared with each other, so that the first robot can change the task execution strategy.
  • task-related information such as staying point, container status, queue number, etc.
  • any measurable factor that the robot can recognize can become the specific content of the communication demand condition.
  • the number of communication requirements can be set to one or more, and only partial dynamic communication is performed for robots or devices that meet the expected conditions.
  • the communication response information includes the second operating environment information fed back by the second robot according to the operating environment request information; the step of determining that the communication response information satisfies the communication requirement condition is determining the first 2.
  • the operating environment information satisfies the communication requirement conditions. Specifically, after the first robot receives the communication response information sent by the second robot, it parses out the second operating environment information of the second robot therein, and obtains specific information of the second operating environment information—for example, position Information, model information or task information-compare and judge with the communication requirements to determine whether the communication requirements are met.
  • the establishment of local dynamic communication follows the consistent local dynamic communication interface.
  • the consistent communication interface can be called to realize the decoupling of the upper-layer application and the communication module, so as to continuously optimize the local dynamic communication capabilities in the subsequent Good scalability; it also provides more possibilities for adapting to various deployment environments; it also provides a good experience for operation and maintenance. It is compatible with a variety of local dynamic communication schemes, and the actual effect of local dynamic communication is not affected between different local dynamic communication schemes.
  • the communication mode can be selected according to the robot model and actual situation.
  • establishing local dynamic communication is point-to-point local dynamic communication.
  • the first robot and the second robot carry out point-to-point local dynamic communication through their own communication modules (such as WIFI, AP, 4G, 5G, Bluetooth, infrared, sound waves, etc.).
  • establishing local dynamic communication is relaying local communication.
  • a relay device In the warehousing environment where robots work, a relay device is built, and the first robot realizes long-distance local dynamic communication through the relay device.
  • establishing local dynamic communication is local area networking communication.
  • the first robot and one or more second robots form a network, and the first robot and the second robot in the network communicate through the established network.
  • the first robot can establish local dynamic communication of one or more second robots related to its operating environment information according to its operating environment information.
  • the robot control method provided by the present application further includes: step S140, determining that the type of the local communication request information is universal; step S150, directly controlling the first robot and the second robot The robot establishes local dynamic communication.
  • the types of local communication request information include general and specific types.
  • General local communication requests refer to information sent to other robots that do not need to reply to specific operating environment information when the triggering of a local communication event has an impact on all robots.
  • Request For example, when the local communication event is that the first robot detects that a specific physical location in the storage environment is obstructed during the traveling process and cannot pass, it sends a general-purpose local communication request message to the second robot.
  • Step S150 occurs after step S120, that is, when the second robot receives a general-purpose local communication request, it sends a networking receipt to the first robot, and then directly controls the first robot to establish local dynamic communication with the second robot , There is no need to perform the content of the above step S130.
  • the robot control method provided by the present application further includes: step S160, receiving the current second operating environment information sent by the second robot; step S170, according to the first operation of the first robot The environment information and the current second operating environment information determine a decision instruction; step S180, control the first robot and/or the second robot to perform operations according to the decision instruction.
  • the information is transmitted in the local network for high-speed communication.
  • the first robot and/or the second robot pair send or receive part or all of the data (such as operating environment information), and use part of the robot's local hardware resources to perform calculations.
  • the calculation results can be used directly by the robot itself, or through broadcasting Transmission to surrounding robots, or point-to-point transmission to designated robots.
  • the current second operating environment information includes second staying point information of the second robot, wherein the second staying point is used by the second robot.
  • Step S170 is: acquiring first staying point information in the first operating environment information; when the first staying point information conflicts with the second staying point information, determining a resource lock decision instruction.
  • the first robot controls the second robot to perform operations according to the decision instruction. For example, when the first robot is the master robot, Control and guide non-main robots to avoid roads or assign tasks to non-main robots.
  • the current second operating environment information includes priority information of the second robot
  • the first operating environment information also includes priority information of the first robot
  • the decision instruction is determined according to the priority. Control the second robot to perform tasks for the first robot.
  • the current second operating environment information includes the amount of tasks performed by the second robot
  • the first operating environment information also includes the amount of tasks of the first robot
  • the first robot is controlled according to the decision instruction determined based on the amount of tasks.
  • the second robot performs part of the tasks belonging to the first robot.
  • the robot adopts the strategy of increasing cache and idempotence.
  • the strategy includes one or more of the following: For messages of the same type received from the same second robot within a certain period of time, only the last piece of information is updated; for messages of the same type from the same second robot, the content is equal It can be discarded directly to realize the idempotent processing of information. Through this embodiment, a part of the robot's local hardware computing and storage resources can be saved.
  • the first robot can realize the low-latency perception of the position occupancy of the surrounding second robots, so as to make reasonable travel decisions such as waiting and passing.
  • the local dynamic communication method replaces remote communication with local dynamic communication, and replaces cloud computing with edge computing, which greatly improves the efficiency.
  • Fig. 4 is a flowchart of an embodiment of a robot control method provided by the present application.
  • the control method can be applied to any robot. It should be noted that the robot control method is applied to the second robot, and the first robot communicates with the second robot. In a warehouse environment, there may be multiple robots, and the number of the first robot and/or the second robot may be one or multiple. The first robot and the second robot are just to facilitate the description of the solution. In a storage environment, the roles of the first robot and the second robot can be exchanged, which does not affect the implementation of the solution. Wherein, each step may be performed sequentially in the sequence as in the flowchart during operation, or multiple steps may be performed at the same time according to actual conditions, which is not limited here.
  • the robot control method provided by the present application includes the following steps: step S410, receiving partial communication request information sent by a first robot; step S420, controlling to send communication to the first robot when it is determined that the partial communication request information satisfies the communication response condition Response information; step S430, when it is determined that the local communication request information does not meet the communication response condition, control refuses to send communication response information to the first robot, wherein the communication response condition is based on the operating environment of the second robot The condition of information determination.
  • the second robot can determine whether to send communication response information to the first robot according to its communication response conditions, so as to reduce unnecessary communication interactions and also reduce the data processing pressure of the robot.
  • the local communication request information is determined according to the operating environment information of the first robot.
  • the first robot can set up corresponding local dynamic communication according to the actual situation to facilitate information sharing and communication.
  • the specific content is the same as the previous related technical solution, so it is not repeated here.
  • the second robot itself has a communication response condition determined based on its operating environment information, and when receiving the local communication request information sent by the first robot, the received local communication request information is combined with the communication response condition.
  • the comparison is performed to control whether the second robot sends communication response information to the first robot. For example, when the local communication request information sent by the first robot is to obtain the number of robots with the same model of the first robot, when the second robot receives the local request communication request, when the model of the second robot is the same as that of the first robot. When a robot model is not the same, it is determined that the local communication request information does not satisfy the communication response condition, and the control refuses to send the communication response information to the first robot.
  • the electronic device 500 includes: a processor 510; a memory 530 connected to the processor 510, and the memory 530 includes control instructions.
  • the electronic device 500 when the processor 510 reads the control instruction, the electronic device 500 is controlled to implement the following steps: responding to a local communication event, controlling to send local communication request information to the second robot; receiving The second robot responds to the communication response information fed back according to the local communication request; determines that the communication response information satisfies the communication demand conditions, and controls the first robot to establish local dynamic communication with the second robot, wherein the communication The required condition is a condition determined according to the operating environment information of the first robot.
  • the step of controlling the sending of local communication request information to the second robot includes: acquiring first operating environment information of the first robot; controlling generating local communication request information according to the first operating environment information, wherein ,
  • the partial communication request information includes the operating environment request information corresponding to the first operating environment information; and controlling the sending of the partial communication request information to the second robot.
  • the local communication event includes at least one or more of the following events: determining that the first robot has received task information; determining that the first robot is in a powered-on and standby state; determining that the first robot is in accordance with The task information is in a working state; and it is determined that the robot is in a charging state.
  • the communication response information includes second operating environment information fed back by the second robot according to the operating environment request information; the step of determining that the communication response information satisfies the communication requirement condition is determining the second operating environment The information satisfies the communication requirements.
  • the method further includes: determining that the type of the local communication request information is universal; after the step of receiving the communication response information fed back by the second robot according to the local communication request: directly controlling the The first robot establishes local dynamic communication with the second robot.
  • the method further includes: receiving the current second operating environment information sent by the second robot; The first operating environment information of the first robot and the current second operating environment information determine a decision instruction; control the first robot and/or the second robot to perform operations according to the decision instruction.
  • the current second operating environment information includes second staying point information of the second robot, where the second staying point is a position where the second robot needs to stay when performing its task
  • the step of determining a decision instruction according to the first operating environment information of the first robot and the current second operating environment information is: acquiring the first staying point information in the first operating environment information; when the When the first stay point information conflicts with the second stay point information, a resource lock decision instruction is determined.
  • the operating environment information includes at least one of the following information: physical environment information, robot information, and business environment information, where the physical environment information is the working environment information of the robot, and the robot information is the robot
  • the business environment information is the task information currently performed by the robot.
  • the electronic device 500 when the processor 510 reads the control instruction, the electronic device 500 is controlled to implement the following steps: receive the local communication request information sent by the first robot; determine the local communication request When the information satisfies the communication response condition, control to send the communication response information to the first robot; when it is determined that the local communication request information does not meet the communication response condition, the control refuses to send the communication response information to the first robot, wherein the The communication response condition is a condition determined according to the operating environment information of the second robot.
  • the electronic device of this embodiment belongs to the same technical concept as the above embodiment of the robot control method, and the technical features of the above method embodiment can be correspondingly applied in this embodiment, and will not be repeated here.
  • control to send local communication request information to the second robot by responding to a local communication event, control to send local communication request information to the second robot; receive communication response information fed back by the second robot according to the local communication request; determine that the communication response information meets the communication requirements Condition, controlling the first robot to establish local dynamic communication with the second robot, wherein the communication demand condition is a condition determined according to the operating environment information of the first robot.
  • the embodiment of the present application also provides a computer-readable storage medium, and the computer-readable storage medium has one or more programs.
  • one or more programs are executed by one or more processors to implement the following steps: responding to a local communication event, controlling to send local communication request information to a second robot; receiving the second robot According to the communication response information fed back from the local communication request; determining that the communication response information satisfies the communication requirement condition, and controlling the first robot to establish local dynamic communication with the second robot, wherein the communication requirement condition is based on The conditions determined by the operating environment information of the first robot are described.
  • the computer-readable storage medium of this embodiment belongs to the same technical concept as the above embodiment of the robot control method, and the technical features of the above method embodiment can be correspondingly applied in this embodiment, and will not be repeated here.
  • the robot by responding to a local communication event, controlling to send local communication request information to the second robot; receiving the communication response information fed back by the second robot according to the local communication request; determining that the communication response information satisfies The communication requirement condition is to control the first robot and the second robot to establish local dynamic communication, wherein the communication requirement condition is a condition determined according to the operating environment information of the first robot.
  • the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, The optical disc) includes several instructions to make a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present application.
  • a terminal which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.
  • the robot control method, electronic equipment, and computer-readable storage medium control the sending of local communication request information to a second robot by responding to a local communication event; receiving a communication response fed back by the second robot according to the local communication request Information; determining that the communication response information satisfies a communication requirement condition, and controlling the first robot to establish a local dynamic communication with the second robot, wherein the communication requirement condition is determined according to the operating environment information of the first robot condition.

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Abstract

本申请提供了一种机器人控制方法，应用于第一机器人，所述方法包括：响应局部通信事件，控制向第二机器人发送局部通信请求信息（S110）；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息(S120)；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信(S130)，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。本申请还提供了电子装置和计算机可读存储介质。通过上述实施方式，使得机器人在工作运行过程中可以快速地与其他机器人建立与作业任务相关的局部动态通信并分享信息，有效降低延迟，加快传输速度，提升机器人整体信息共享效率。

Description

机器人控制方法、电子设备及计算机可读存储介质 技术领域
本申请涉及网络通信技术领域，尤其涉及一种机器人控制方法、电子设备及计算机可读存储介质。
 背景技术
当下使用最广泛的便是AGV（Automated Guided Vehicle ）自动引导运输机器人，但AGV机器人灵活性不足，成本昂贵。AMR（ Autonomous Mobile Robot ）自主移动机器人逐渐开始发展，现在处于AMR机器人发展初期。
目前AMR机器人信息获取、交换和处理等操作的主要途径是通过与云端服务器交互完成。机器人信息获取、交换和处理的效率，受到云端服务器性能和网络通信性能的严重制约，稳定向较差，效率较低。该因素也会制约机器人集群整体运行效率的提升。
 技术问题
本申请的主要目的在于提出一种机器人控制方法、电子设备及计算机可读存储介质，旨在使得机器人在工作运行过程中可以快速地与其他机器人建立与作业任务相关的局部动态通信并分享信息，有效降低延迟，加快传输速度，提升机器人整体信息共享效率。
 技术解决方案
为实现上述目的，本申请提供了一种机器人控制方法，应用于第一机器人，所述方法包括：响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。
本申请还提供一种机器人控制方法，应用于第二机器人，所述方法包括：接收第一机器人发送的局部通信请求信息；确定所述局部通信请求信息满足通信应答条件时，控制向所述第一机器人发送通信应答信息；确定所述局部通信请求信息不满足通信应答条件时，控制拒绝向所述第一机器人发送通信应答信息，其中，所述通信应答条件为根据所述第二机器人的运行环境信息确定的条件。
本申请还提供一种电子设备，所述电子设备包括：处理器；存储器，与所述处理器连接，所述存储器包含控制指令，当所述处理器读取所述控制指令时，控制所述电子设备实现上述机器人控制方法或机器人控制方法。
本申请还提供一种计算机可读存储介质，所述计算机可读存储介质有一个或多个程序，所述一个或多个程序被一个或多个处理器执行，以实现上述机器人控制方法或机器人控制方法。
 有益效果
本申请提供的机器人控制方法、电子设备及计算机可读存储介质，通过响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。使得机器人在工作运行过程中可以快速地与其他机器人建立与作业任务相关的局部动态通信并分享信息，有效降低延迟，加快传输速度，提升机器人整体信息共享效率。
 附图说明
图1为本申请一实施例提供的机器人控制方法的流程图。
图2为本申请一实施例提供的机器人控制方法的流程图。
图3为本申请一实施例提供的机器人控制方法的流程图。
图4为本申请一实施例提供的机器人控制方法的流程图。
图5为本申请一实施例提供的电子设备的结构示意图。
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
 本发明的实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，在本发明的描述中，除非另有明确的规定和限定，术语“存储介质”可以是ROM、RAM、磁碟或者光盘等各种可以存储计算机程序的介质。术语“处理器”可以是CPLD（Complex Programmable Logic Device：复杂可编程逻辑器件）、FPGA（Field－Programmable Gate Array：现场可编程门阵列）、MCU（Microcontroller Unit：微控制单元）、PLC（Programmable Logic Con-troller：可编程逻辑控制器）以及CPU（CentralProcessing Unit：中央处理器）等具备数据处理功能的芯片或电路。术语“电子设备”可以是具有数据处理功能和存储功能的任何设备，通常可以包括固定终端和移动终端。固定终端如台式机等。移动终端如手机、PAD以及移动机器人等。此外，后续所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
下面，本发明提出部分优选实施例以教导本领域技术人员实现。
图1是本申请提供的一机器人控制方法的实施例的流程图。该控制方法可以应用于任一一个机器人，需要说明的是，该机器人控制方法应用于第一机器人，第一机器人与第二机器人进行通信。在一个仓储环境中，可以存在多个机器人，第二机器人的数量可以是一个，也可以是多个。第一机器人和第二机器人只是为了方便方案描述，在一个仓储环境中，第一机器人和第二机器人的角色可以互换，并不影响方案的实施。其中，各个步骤在运行的时候可以是按照如流程图中的顺序先后进行，也可以是根据实际情况多个步骤同时进行，在此并不做限定。本申请提供的机器人控制方法包括如下步骤：步骤S110，响应局部通信事件，控制向第二机器人发送局部通信请求信息；步骤S120，接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；步骤S130，确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。
通过上述实施方式，通过响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。使得机器人在工作运行过程中可以快速地与其他机器人建立与作业任务相关的局部动态通信并分享信息，采用机器人之间局部动态通信代替传统观的机器人与云端通信的方式，机器人之间的一部分信息处理，采用机器人本地的方式代替云端计算，这样可以有效降低延迟，加快传输速度，提升机器人整体信息共享效率。
下面将结合具体实施例对上述步骤进行具体的描述。
在步骤S110中，响应局部通信事件，控制向第二机器人发送局部通信请求信息。
具体地，在仓储环境中，运行有一个或者多个机器人，机器人在接收到任务信息后，通过自动导航的方式在仓储环境中自主移动并完成指定的作业任务。不同的机器人在执行任务的过程中会存在取货位置的重合或是移动路径的冲突，需要机器人需要实时地根据情况进行调整执行方式，例如，改变路径进行移动，或是在特定区域进行排队等待。此时，不同的机器人之间需要通过将自身的运行环境信息发送给其他机器人，以供其他机器人根据运行环境信息进行调整完成作业任务的方式，同时并接收其他机器人发送的运行环境信息，以调整自身的完成作业任务的方式。
在本实施方式中，运行环境信息至少包括如下信息之一：物理环境信息、机器人信息和业务环境信息，其中，物理环境信息为所述机器人所处工作环境信息，所述机器人信息为所述机器人的参数信息，所述业务环境信息为所述机器人当前执行的任务信息。
在本实施方式中，第一机器人和第二机器人的角色可以互换，不影响本申请提供的机器人控制方法的实施。具体地，局部通信事件为触发第一机器人向外发送局部通信请求信息的事件。在本实施方式中，局部通信事件可以为下述一种或多种：确定所述第一机器人接收到任务信息；确定所述第一机器人处于开机且待机状态；确定所述第一机器人正在根据所述任务信息进行作业状态；和确定所述机器人处于充电状态。举例而言，当第一机器人接收到系统发送或是人工输入的任务信息后，第一机器人的控制系统控制第一机器人向第二机器人发送局部通信请求信息。在其他实施方式中，局部通信事件也可以是确定第一机器人具备与其他机器人或设备相互通讯的能力。在其他实施方式中，局部通信事件也可以是根据接收到的任务信息的完成不同阶段，例如，取货阶段、移动的路径中的转弯阶段等。
在一可选的实施方式中，局部通信请求信息为根据第一机器人的运行环境信息进行确定。通过此种方式，使得第一机器人可以根据实际情况组建相应的局部动态通信，以方便信息分享沟通。具体地，控制向第二机器人发送局部通信请求信息的步骤，包括：步骤S1101，获取所述第一机器人的第一运行环境信息；步骤S1102，根据所述第一运行环境信息控制生成局部通信请求信息，其中，所述局部通信请求信息中包括与所述第一运行环境信息相对应的运行环境请求信息；步骤S1103，控制向第二机器人发送局部通信请求信息；具体地，在步骤S1101中，第一运行环境信息为第一机器人的物理环境信息、机器人信息和业务环境信息中的一种或多种。其中，物理环境信息为所述机器人所处工作环境信息，举例而言，机器人的位置信息；所述机器人信息为所述机器人的参数信息，例如，机器人的型号信息；所述业务环境信息为所述机器人当前执行的任务信息，例如，到编号为a的橱柜进行取货。步骤S1102中，局部通信请求信息中包括与所述第一运行环境信息相对应的运行环境请求信息，使得局部通信请求信息与第一机器人的第一运行环境信息相关联，以使第一机器人可以后续根据其他第二机器人反馈的与第一运行环境信息相关联的通信应答信息确定需要组建局部动态通信的第二机器人。在本实施方式中，所述局部通信请求信息中包括与所述第一运行环境信息相对应的运行环境请求信息，环境请求信息用于向其他第二机器人请求其型号信息。
举例而言，当第一运行环境信息为所述机器人的型号信息时，则运行环境请求信息为型号请求信息，该型号请求信息用于向其他第二机器人请求其型号信息；当第一运行环境信息为所述机器人的位置信息时，则运行环境请求信息为位置请求信息，该位置请求信息用于向其他第二机器人请求其位置信息；当第一运行环境信息为所述机器人的当前执行的任务信息时，则运行环境请求信息为任务请求信息，该任务请求信息用于向其他第二机器人请求其任务信息；当第一运行环境信息为所述机器人的停留点信息时，则运行环境请求信息为停留点请求信息，该型号请求信息用于向其他第二机器人请求其停留点信息。
在步骤S1103中，将含有运行环境请求信息的局部通信请求信息向第二机器人进行发送。需要说明的是，此时的第一机器人和第二机器人虽然能够进行通信，但是并非局部动态通信，而是通过服务器等方式进行通信。
通过上述实施方式，使得第一机器人可以根据实际需求发送相应的局部通信请求信息，使得可以从接收到的通信应答信息中筛选出需要进行组建局部动态通信的第二机器人，以便进行分享和接收与实际需要相关的信息进行控制第一机器人进行作业。
在步骤S120中，接收所述第二机器人根据所述局部通信请求反馈的通信应答信息。
具体地，所述通信应答信息包括所述第二机器人根据运行环境请求信息反馈的第二运行环境信息。其中，第二运行环境信息的内容为第二机器人的物理环境信息、机器人信息和业务环境信息中的一种或多种。其中，物理环境信息为所述机器人所处工作环境信息，举例而言，机器人的位置信息；所述机器人信息为所述机器人的参数信息，例如，机器人的型号信息；所述业务环境信息为所述机器人当前执行的任务信息，例如，到编号为a的橱柜进行取货。
举例而言，当运行环境请求信息为型号请求信息时，通信应答信息包括所述第二机器人的型号信息；当运行环境信息为所述机器人的位置信息时，通信应答信息包括第二机器人的位置信息；当运行环境信息为所述机器人的当前执行的任务信息时，通信应答信息包括第二机器人的任务信息；当运行环境信息为所述机器人的停留点信息时，通信应答信息包括第二机器人停留点信息。
在步骤S130中，确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信。
具体地，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。在一可选的实施方式中，通信需求条件用于供第一机器人根据接收到的第二机器人反馈的通信应答信息确定是否进行局部动态通信。其中，通信需求条件为满足预设数值阈值或是匹配到预设关键字。
举例而言，如果局部通信请求信息中的运行环境请求信息为位置信息时，通信需求条件可以为以第一机器人的位置信息为中心确定的物理半径范围，通过此种方式，可以使得第一机器人与在特定物理半径范围内的第二机器人建立局部动态通信；如果局部通信请求信息中的运行环境请求信息为型号信息时，通信需求条件可以为与该型号信息相同或是同一系列，通过此种方式，可以使得第一机器人与同型号或是同系列的第二机器人建立局部动态通信，使得彼此之间可以快速分享特定型号所具有或适用的参数信息或是其他信息；如果局部通信请求信息中的运行环境请求信息为任务信息时，通信需求条件可以为与该任务信息相同或是具有重合关系，通过此种方式，可以使得第一机器人与执行相同任务信息或是具有重合关系的第二机器人建立局部动态通信，使得彼此之间可以快速分享与任务相关的信息（如，停留点、货柜状况、排队数量等），以便第一机器人可以变化任务执行策略。
需要说明的是，任何机器人可识别的可度量的因素，都可以成为通信需求条件的具体内容。通信需求条件的数量可设置一个或多个，只对符合预期条件的机器人或设备执行局部动态通信。
在一可选的实施方式中，通信应答信息包括所述第二机器人根据运行环境请求信息反馈的第二运行环境信息；所述确定所述通信应答信息满足通信需求条件的步骤为确定所述第二运行环境信息满足所述通信需求条件。具体地，当第一机器人接收到第二机器人发送的通信应答信息后，解析出其中的第二机器人的第二运行环境信息，通过将获得的第二运行环境信息的具体信息——例如，位置信息、型号信息或是任务信息——与通信需求条件进行比对判断，以确定是否满足通信需求条件。
在本实施方式中，组建局部动态通信遵循一致的局部动态通讯接口，对于上层软件应用，可调用一致的通讯接口，实现上层应用与通信模块的解耦合，为后续持续优化局部动态通信能力，提供良好的扩展能力；也为适应各种部署环境提供了更多可能性；同时也为运维提供了良好的体验。可兼容多种局部动态通信方案，不同局部动态通信方案之间不影响局部动态通信的实际效果。可根据机器人型号和实际情况等选择通讯模式。
在一可选的实施方式中，建立局部动态通信为点对点局部动态通信。第一机器人和第二机器人通过自身携带的通信模块（例如WIFI，AP，4G，5G，蓝牙，红外线，声波等）进行点对点的局部动态通信。
在一可选的实施方式中，建立局部动态通信为中继局部通信。在机器人作业的仓储环境中，搭建中继设备，第一机器人通过中继设备实现长距离的局部动态通信。
在一可选的实施方式中，建立局部动态通信为局域组网通信。第一机器人和一个或多个第二机器人进行组网，网内的第一机器人和第二机器人通过该组建的网络进行通信。
通过上述实施方式，使得第一机器人可以根据其运行环境信息建立与其运行环境信息相关的一个或多个第二机器人的局部动态通信。
进一步地，如图2所示，本申请提供的机器人控制方法还包括：步骤S140，确定所述局部通信请求信息的类型为通用型；步骤S150，直接控制所述第一机器人与所述第二机器人建立局部动态通信。
具体地，局部通信请求信息的类型包括通用型和特定型，通用型局部通信请求指的是当触发局部通信事件对所有机器人都具有影响时，向其他机器人发送的不需要回复具体的运行环境信息的请求。例如，当局部通信事件为第一机器人在行进过程中检测到仓储环境中的特定物理位置出现阻碍，无法通行时，则向第二机器人发送通用型的局部通信请求信息。步骤S150发生在步骤S120之后，即，当第二机器人接收到通用型局部通信请求后，向第一机器人发送组网回执，则直接控制所述第一机器人与所述第二机器人建立局部动态通信，而不需要执行上述步骤S130的内容。
进一步地，如图3所示，本申请提供的机器人控制方法还包括：步骤S160，接收所述第二机器人发送的当前第二运行环境信息；步骤S170，根据所述第一机器人的第一运行环境信息和所述当前第二运行环境信息确定决策指令；步骤S180，根据所述决策指令控制所述第一机器人和/或第二机器人进行作业。
具体地，当第一机器人和第二机器人建立连接后，信息传输在局部网络进行高速通信。第一机器人和/或第二机器人对发送或接收到一部分或全部的数据（如，运行环境信息），利用机器人本地的一部分硬件资源执行计算，计算结果可以被机器人本身直接使用，也可以通过广播传输给周围的机器人，还可以是通过点对点传输给指定机器人。
在一可选的实施方式中，在步骤S160中，所述当前第二运行环境信息包括所述第二机器人的第二停留点信息，其中，所述第二停留点为所述第二机器人用以执行其任务时所需要停留的位置。步骤S170为：获取所述第一运行环境信息中的第一停留点信息；当所述第一停留点信息与所述第二停留点信息冲突时，确定资源锁决策指令。在步骤S180中，在一可选的实施方式中，当第一机器人为主机器人时，该第一机器人根据决策指令控制第二机器人进行作业，举例而言，当第一机器人为主机器人时，控制指导非主机器人避让通行道路或是为非主机器人分配作业任务。
在一可选的实施方式中，所述当前第二运行环境信息包括所述第二机器人的优先级信息，第一运行环境信息也包括第一机器人的优先级信息，根据根据优先级确定决策指令为第一机器人控制第二机器人执行作业任务。
在一可选的实施方式中，当前第二运行环境信息包括第二机器人执行的任务量，第一运行环境信息也包括第一机器人的任务量，根据根据任务量确定决策指令为第一机器人控制第二机器人执行部分属于第一机器人的任务。
需要说明的是，具体的第二运行环境信息和第一运行环境信息可以根据实际情况进行确定。
机器人之间的局部高频探测与信息广播，会导致信息的快速更新和一定量的信息重复。为了解决这个问题，机器人采用增加缓存与幂等策略。其中，策略包括如下一种或多种：对于一定时间段内的接收到的同一个第二机器人的同类型消息，采取只更新最后一条信息；对于同一第二机器人的同类型消息，内容相等的可直接丢弃，实现信息的幂等处理。通过本实施方式，可节约一部分机器人本地硬件计算和存储等资源。
通过上述实施方式，使得第一机器人可以实现低延迟感知周围的第二机器人的位置占用情况，从而做出合理的等待、通过等行进决策。相比于传统去到云端获取资源锁，局部动态通信的方式以局部动态通信代替远端通信，以边缘计算代替云端计算，效率大大提升。
图4是本申请提供的一机器人控制方法的实施例的流程图。该控制方法可以应用于任一一个机器人，需要说明的是，该机器人控制方法应用于第二机器人，第一机器人与第二机器人进行通信。在一个仓储环境中，可以存在多个机器人，第一机器人和/或第二机器人的数量可以是一个，也可以是多个。第一机器人和第二机器人只是为了方便方案描述，在一个仓储环境中，第一机器人和第二机器人的角色可以互换，并不影响方案的实施。其中，各个步骤在运行的时候可以是按照如流程图中的顺序先后进行，也可以是根据实际情况多个步骤同时进行，在此并不做限定。本申请提供的机器人控制方法包括如下步骤：步骤S410，接收第一机器人发送的局部通信请求信息；步骤S420，确定所述局部通信请求信息满足通信应答条件时，控制向所述第一机器人发送通信应答信息；步骤S430，确定所述局部通信请求信息不满足通信应答条件时，控制拒绝向所述第一机器人发送通信应答信息，其中，所述通信应答条件为根据所述第二机器人的运行环境信息确定的条件。
通过上述实施方式，使得第二机器人可以根据其通信应答条件确定是否对第一机器人发送通信应答信息，以减少了不必要的通信交互，也减少了机器人的数据处理压力。
具体地，局部通信请求信息为根据第一机器人的运行环境信息进行确定。通过此种方式，使得第一机器人可以根据实际情况组建相应的局部动态通信，以方便信息分享沟通。具体的内容与前文相关的技术方案相同，故在此不做赘述。
在本实施方式中，第二机器人自身存有根据其运行环境信息确定的通信应答条件，当接收到第一机器人发送的局部通信请求信息时，通过将接收到的局部通信请求信息与通信应答条件进行比对，以控制第二机器人是否向第一机器人发送通信应答信息。举例而言，当第一机器人发送的局部通信请求信息为获取其第一机器人型号相同的机器人的数量时，则第二机器人在接收到该局部请求通信请求时，当第二机器人的型号与第一机器人型号不相同时，则确定局部通信请求信息不满足通信应答条件，控制拒绝向所述第一机器人发送通信应答信息。
图5为本申请实施例提供的电子设备500的结构组成示意图，电子设备500包括：处理器510；存储器530，与所述处理器510连接，所述存储器530包含控制指令。
在一可选的实施方式中，当所述处理器510读取所述控制指令时，控制所述电子设备500实现如下步骤：响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。
可选地，所述控制向第二机器人发送局部通信请求信息的步骤，包括：获取所述第一机器人的第一运行环境信息；根据所述第一运行环境信息控制生成局部通信请求信息，其中，所述局部通信请求信息中包括与所述第一运行环境信息相对应的运行环境请求信息；控制向第二机器人发送局部通信请求信息。
可选地，所述局部通信事件至少包括如下一种或多种事件：确定所述第一机器人接收到任务信息；确定所述第一机器人处于开机且待机状态；确定所述第一机器人正在根据所述任务信息进行作业状态；和确定所述机器人处于充电状态。
可选地，所述通信应答信息包括所述第二机器人根据运行环境请求信息反馈的第二运行环境信息；所述确定所述通信应答信息满足通信需求条件的步骤为确定所述第二运行环境信息满足所述通信需求条件。
可选地，所述方法还包括：确定所述局部通信请求信息的类型为通用型；所述接收所述第二机器人根据所述局部通信请求反馈的通信应答信息的步骤之后：直接控制所述第一机器人与所述第二机器人建立局部动态通信。
可选地，所述控制所述第一机器人与所述第二机器人建立局部动态通信的步骤之后，所述方法还包括：接收所述第二机器人发送的当前第二运行环境信息；根据所述第一机器人的第一运行环境信息和所述当前第二运行环境信息确定决策指令；根据所述决策指令控制所述第一机器人和/或第二机器人进行作业。
可选地，所述当前第二运行环境信息包括所述第二机器人的第二停留点信息，其中，所述第二停留点为所述第二机器人用以执行其任务时所需要停留的位置；所述根据所述第一机器人的第一运行环境信息和所述当前第二运行环境信息确定决策指令的步骤为：获取所述第一运行环境信息中的第一停留点信息；当所述第一停留点信息与所述第二停留点信息冲突时，确定资源锁决策指令。
可选地，所述运行环境信息至少包括如下信息之一：物理环境信息、机器人信息和业务环境信息，其中，物理环境信息为所述机器人所处工作环境信息，所述机器人信息为所述机器人的参数信息，所述业务环境信息为所述机器人当前执行的任务信息。
在一可选的实施方式中，当所述处理器510读取所述控制指令时，控制所述电子设备500实现如下步骤：接收第一机器人发送的局部通信请求信息；确定所述局部通信请求信息满足通信应答条件时，控制向所述第一机器人发送通信应答信息；确定所述局部通信请求信息不满足通信应答条件时，控制拒绝向所述第一机器人发送通信应答信息，其中，所述通信应答条件为根据所述第二机器人的运行环境信息确定的条件。
需要说明的是，本实施例的电子设备，与上述机器人控制方法实施例属于同一技术构思，上述方法实施例的技术特征在本实施例中均能对应适用，这里不在重述。
通过上述电子设备500，通过响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。使得机器人在工作运行过程中可以快速地与其他机器人建立与作业任务相关的局部动态通信并分享信息，有效降低延迟，加快传输速度，提升机器人整体信息共享效率。
本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质有一个或多个程序。
在一可选的实施方式中，一个或多个程序被一个或多个处理器执行，以实现如下步骤：响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。
需要说明的是，本实施例的计算机可读存储介质，与上述机器人控制方法实施例属于同一技术构思，上述方法实施例的技术特征在本实施例中均能对应适用，这里不在重述。
通过上述计算机可读存储介质，通过响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。使得机器人在工作运行过程中可以快速地与其他机器人建立与作业任务相关的局部动态通信并分享信息，有效降低延迟，加快传输速度，提升机器人整体信息共享效率。
上述各实施方式中的对应的技术特征在不导致方案矛盾或不可实施的前提下，可以相互使用。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质（如ROM/RAM、磁碟、光盘）中，包括若干指令用以使得一台终端（可以是手机，计算机，服务器，空调器，或者网络设备等）执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，这些均属于本申请的保护之内。
 工业实用性
本申请提供的机器人控制方法、电子设备及计算机可读存储介质，通过响应局部通信事件，控制向第二机器人发送局部通信请求信息；接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。使得机器人在工作运行过程中可以快速地与其他机器人建立与作业任务相关的局部动态通信并分享信息，有效降低延迟，加快传输速度，提升机器人整体信息共享效率。因此，具有工业实用性。

Claims (11)

  1. 一种机器人控制方法，应用于第一机器人，所述方法包括：
    响应局部通信事件，控制向第二机器人发送局部通信请求信息；
    接收所述第二机器人根据所述局部通信请求反馈的通信应答信息；
    确定所述通信应答信息满足通信需求条件，控制所述第一机器人与所述第二机器人建立局部动态通信，其中，所述通信需求条件为根据所述第一机器人的运行环境信息确定的条件。
  2. 如权利要求1所述的机器人控制方法，其中，所述控制向第二机器人发送局部通信请求信息的步骤，包括：
    获取所述第一机器人的第一运行环境信息；
    根据所述第一运行环境信息控制生成局部通信请求信息，其中，所述局部通信请求信息中包括与所述第一运行环境信息相对应的运行环境请求信息；
    控制向第二机器人发送局部通信请求信息。
  3. 如权利要求1所述的机器人控制方法，其中，所述局部通信事件至少包括如下一种或多种事件：
    确定所述第一机器人接收到任务信息；
    确定所述第一机器人处于开机且待机状态；
    确定所述第一机器人正在根据所述任务信息进行作业状态；和
    确定所述机器人处于充电状态。
  4. 如权利要求2所述的机器人控制方法，其中，所述通信应答信息包括所述第二机器人根据运行环境请求信息反馈的第二运行环境信息；
    所述确定所述通信应答信息满足通信需求条件的步骤为确定所述第二运行环境信息满足所述通信需求条件。
  5. 如权利要求1所述的机器人控制方法，其中，所述方法还包括：确定所述局部通信请求信息的类型为通用型；
    所述接收所述第二机器人根据所述局部通信请求反馈的通信应答信息的步骤之后：
    直接控制所述第一机器人与所述第二机器人建立局部动态通信。
  6. 如权利要求1所述的机器人控制方法，其中，所述控制所述第一机器人与所述第二机器人建立局部动态通信的步骤之后，所述方法还包括：
    接收所述第二机器人发送的当前第二运行环境信息；
    根据所述第一机器人的第一运行环境信息和所述当前第二运行环境信息确定决策指令；
    根据所述决策指令控制所述第一机器人和/或第二机器人进行作业。
  7. 如权利要求6所述的机器人控制方法，其中，所述当前第二运行环境信息包括所述第二机器人的第二停留点信息，其中，所述第二停留点为所述第二机器人用以执行其任务时所需要停留的位置；
    所述根据所述第一机器人的第一运行环境信息和所述当前第二运行环境信息确定决策指令的步骤为：
    获取所述第一运行环境信息中的第一停留点信息；
    当所述第一停留点信息与所述第二停留点信息冲突时，确定资源锁决策指令。
  8. 如权利要求1～7所述任一机器人控制方法，其中，所述运行环境信息至少包括如下信息之一：物理环境信息、机器人信息和业务环境信息，其中，物理环境信息为所述机器人所处工作环境信息，所述机器人信息为所述机器人的参数信息，所述业务环境信息为所述机器人当前执行的任务信息。
  9. 一种机器人控制方法，应用于第二机器人，所述方法包括：
    接收第一机器人发送的局部通信请求信息；
    确定所述局部通信请求信息满足通信应答条件时，控制向所述第一机器人发送通信应答信息；
    确定所述局部通信请求信息不满足通信应答条件时，控制拒绝向所述第一机器人发送通信应答信息，其中，所述通信应答条件为根据所述第二机器人的运行环境信息确定的条件。
  10. 一种电子设备，所述电子设备包括：
    处理器；
    存储器，与所述处理器连接，所述存储器包含控制指令，当所述处理器读取所述控制指令时，控制所述电子设备实现权利要求1至9所述任一项机器人控制方法。
  11. 一种计算机可读存储介质，所述计算机可读存储介质有一个或多个程序，所述一个或多个程序被一个或多个处理器执行，以实现权利要求1至9所述任一项机器人控制方法。
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