WO2023174096A1 - 自主移动机器人的调度方法、系统、电子设备和存储介质 - Google Patents

自主移动机器人的调度方法、系统、电子设备和存储介质 Download PDF

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Publication number
WO2023174096A1
WO2023174096A1 PCT/CN2023/079999 CN2023079999W WO2023174096A1 WO 2023174096 A1 WO2023174096 A1 WO 2023174096A1 CN 2023079999 W CN2023079999 W CN 2023079999W WO 2023174096 A1 WO2023174096 A1 WO 2023174096A1
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Prior art keywords
congestion
sub
robots
robot
road
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PCT/CN2023/079999
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English (en)
French (fr)
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幸敏
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灵动科技（北京）有限公司
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Publication of WO2023174096A1 publication Critical patent/WO2023174096A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • This application relates to the field of robotics technology, specifically, to a scheduling method, system, electronic device and storage medium for an autonomous mobile robot.
  • autonomous mobile robots have been widely used in picking, sorting, and handling operations in warehouses. They can replace manual carts, reduce ineffective manual movements, maximize human efficiency, free up human resources, and improve accuracy.
  • each robot performs path planning and movement according to the tasks it receives, and relies on the obstacle avoidance function of a single robot to avoid robots; this often makes The robot faces a situation where the road is blocked and cannot pass.
  • This application provides a scheduling method, system, electronic equipment and storage medium for an autonomous mobile robot. It divides the robot's workplace into multiple sub-areas and sets key congestion points, and controls road traffic at key congestion points in accordance with rules, thereby alleviating the problem. This improves work efficiency by solving the problem of unsmooth passage of robots in more cramped work scenarios.
  • a scheduling method for autonomous mobile robots is provided, which is applied to a workplace where multiple robots work together, including: obtaining a map of the workplace, and dividing a plurality of subdivisions in the map. area; calculate the congestion factor of each sub-region; determine at least one of the sub-regions as a congestion key point according to the congestion factor; based on the road information of the congestion key point, calculate the time for multiple robots in the congestion The passage of key points is scheduled and controlled.
  • the multiple sub-areas cover the robot-travelable area of the map and are connected to each other.
  • the congestion factor is an average of the total time spent by multiple robots passing through the sub-area within a predetermined time.
  • the total time for multiple robots to pass through the sub-area respectively includes: the time for normally passing through the sub-area; and the time for passively decelerating and/or stopping when passing through the sub-area.
  • determining at least one of the sub-areas as a congestion key point according to the congestion factor includes: among the multiple sub-areas, calculating the median or average value of the congestion factors of all the sub-areas. ; For each of the sub-regions, if the ratio of the congestion factor of the sub-region to the median or average value of the congestion factors of all the sub-regions is greater than a predetermined threshold, then the sub-region is determined to be the Describe the key points of congestion.
  • the congestion key points corresponding to the multiple sub-areas may be merged into at least one so-called congestion key point. Describe the key points of congestion.
  • performing scheduling control on the passage of the congestion key point includes: only allowing a predetermined number of the robots to pass through the congestion key point; only allowing a predetermined number of the robots to enter the congestion key point. roads; only the robots scheduled to travel in the same direction are allowed to enter the road containing the congestion key point.
  • only allowing a predetermined number of robots to pass through the congestion key point is scheduled, including: controlling a predetermined number of robots to pass through the congestion key point, and all of the predetermined number of robots leaving the congestion key point. Before the point, the robot will no longer be scheduled to enter the critical congestion point.
  • only allowing a predetermined number of the robots to enter the road passing through the congestion key point includes: controlling a predetermined number of the robots to enter the congestion key point, and after the predetermined number of robots all leave Before the road passing through the critical congestion point, the robot will no longer be dispatched to enter the road.
  • only the robots scheduled to travel in the same direction are allowed to enter the road containing the congestion key point, including: if the road passes the congestion key point and the robot is already traveling on the road, Then only robots in the same direction as the robot are scheduled to enter the road until all existing robots and scheduled robots leave the road.
  • a scheduling system for autonomous mobile robots including: a collection module to obtain the time and/or position information of each robot in a workplace where multiple robots work together; and storage A module that stores time and/or location information during the travel of each robot, as well as a map of the robot's workplace; a planning module that divides multiple sub-areas in the map according to the map; and calculates A module that calculates the congestion factor of each sub-region based on the time and/or position information during the travel of each robot, and determines at least one congestion key point based on the congestion factors of all the sub-regions; a scheduling module , sending scheduling instructions to multiple robots to schedule and control the passage of multiple robots at the congestion key points according to the map.
  • the time and/or location information of each robot during its travel includes: the time and/or location information reported by each robot to the scheduling system; and/or the scheduling system Time and/or location information obtained through video surveillance.
  • the time and/or location information reported by each of the robots to the scheduling system includes: the total time for each of the robots to pass through each of the sub-areas; Location information traveling between said sub-regions.
  • the time and/or location information obtained by the scheduling system through video monitoring includes: the total time for multiple robots to pass through each of the sub-areas; Location information traveling between sub-regions.
  • an autonomously mobile robot including: a body; a camera installed on the body for obtaining time and/or position information during the movement of the robot; and a communication device for reporting The time and/or position information during the movement of the robot is sent to the dispatching system as mentioned above, and the dispatching instructions of the dispatching system are received; a memory; a processor; and a driving device to drive the vehicle body to move.
  • an electronic device including: one or more processors; a storage device for storing one or more programs; when the one or more programs are processed by the one or more The processor executes, causing one or more processors to implement the aforementioned method.
  • a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the aforementioned method is implemented.
  • the congestion problem that occurs when multiple robots are concentrated at the same point is effectively alleviated and improved Robot efficiency.
  • Figure 1 shows a schematic diagram of a scheduling system for an autonomous mobile robot according to an example embodiment of the present application.
  • Figure 2 shows a flow chart of a scheduling method for autonomous mobile robots according to an example embodiment of the present application.
  • Figure 3 shows a schematic diagram of the relationship between congestion key points and sub-areas according to an example embodiment of the present application.
  • Figure 4 shows a schematic diagram of an autonomous mobile robot traveling in a workplace according to an example embodiment of the present application.
  • Figure 5 shows a schematic diagram of the travel time and location information acquisition of an autonomous mobile robot according to an example embodiment of the present application.
  • Figure 6 shows a block diagram of an autonomous mobile robot scheduling system according to an example embodiment of the present application.
  • FIG. 7 shows a block diagram of an electronic device according to an example embodiment of the present application.
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • Example embodiments may, however, be embodied in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concepts of the example embodiments. To those skilled in the art.
  • the same reference numerals in the drawings represent the same or similar parts, and thus their repeated description will be omitted.
  • This application provides a scheduling method, system, electronic equipment and storage medium for autonomous mobile robots.
  • By setting key congestion points and controlling the traffic at the key congestion points it is possible to rely only on a single robot in a scenario where the working environment is relatively cramped.
  • the problem of road obstruction that cannot be solved by the obstacle avoidance function is effectively alleviated.
  • Figure 1 shows a schematic diagram of a scheduling system for an autonomous mobile robot according to an example embodiment of the present application.
  • the scheduling system of autonomous mobile robots includes a scheduling system 101, a video surveillance system 102, a robot 103 and a network 104.
  • the scheduling system 101 interacts with the robot 103 in real time through the network 104 to obtain the robot's travel time and/or position information in the map of the robot's workplace, and is connected to the video surveillance system 102 through the network 104 to obtain the data of all robots in the entire map. Travel time and/or location information.
  • the scheduling system 101 divides a plurality of sub-areas in the workplace map and calculates a congestion factor for each sub-area based on the robot's travel time and location information.
  • the scheduling system 101 determines the congestion key points according to the congestion factor of each sub-area, and sends scheduling instructions to the robot 103 according to rules to control the robot traffic at the congestion key points.
  • the video surveillance system 102 obtains the travel time and/or location information of all robots in the entire map through each camera distributed in the robot workplace, and sends it to the dispatching system 101 .
  • the robot 103 obtains its own traveling time and/or real-time location information on the map through the camera installed on the vehicle body, sends it to the dispatching system 101 and receives the dispatching instructions issued by the dispatching system, and travels on the map according to the dispatching instructions.
  • Network 104 may be a medium used to provide network communication links between dispatch system 101, video surveillance system 102, and robot 103, and may include various connection types, such as fiber optic cables, wireless communication links, and the like.
  • Figure 2 shows a flow chart of a scheduling method for autonomous mobile robots according to an example embodiment of the present application.
  • the map of the workplace includes site distribution information and road information, which can be stored in a server (for example, the server where the dispatching system is located) or a robot that works collaboratively in the workplace, and can be obtained through the server or robot. Map information and multiple roads for robots to travel can be laid on the map in advance.
  • the map of the workplace can be updated according to changes in the layout of the workplace and the movement of the robot, so that the map information obtained by the server or the robot is the latest updated map information.
  • the map of the workplace is divided into a plurality of sub-areas that are the same shape as the body circumscribed polygon of the robot.
  • the shape of the sub-region can be changed according to the requirements for the accuracy of robot scheduling control. If high-precision scheduling control is required, the shape of the sub-region can be the same as the shape of the circumscribed polygon of the robot body.
  • each sub-region should be larger than the area of the polygon circumscribed to the robot body, and each sub-region should be connected to each other. Multiple sub-regions should be filled with the feasible area of the robot in the map.
  • the congestion factor n of a sub-area is an average of the time it takes for multiple robots in the map to pass through this sub-area within a predetermined time, where the predetermined time is an empirical parameter and can be set according to actual needs.
  • n (n 1 +n 2 + whil+n 10 )/10.
  • the time for each robot to pass through the sub-area only includes the normal passing time and the time of passive deceleration and/or parking due to automatic obstacle avoidance during the process of passing through the sub-area, and does not include the time of actively controlled parking due to tasks.
  • the robot is controlled to start traveling from a sub-area in the map, and when it leaves this sub-area and reaches an adjacent sub-area, it is considered that the robot has passed this sub-area.
  • the time and location information of each robot during its travel is obtained through the camera and video surveillance system installed on the vehicle body.
  • At least one sub-area is determined as a congestion key point according to the congestion factor.
  • this sub-region is a critical point of congestion.
  • the setting of the predetermined threshold is adjusted based on the completion time of all tasks of the robot and the average completion time of a single task.
  • the predetermined thresholds are adjusted according to different project requirements.
  • the shorter the completion time of all tasks the more reasonable the threshold will be; if the project to which the task belongs pursues timeliness, the average completion time of a single task The shorter the time, the more reasonable the threshold is.
  • the congestion key points corresponding to the multiple sub-regions within the preset range will be merged into one congestion key point.
  • the number of sub-areas to a rectangular area of 3x3, as shown in Figure 3.
  • This area includes sub-areas 210 to 218, as well as roads and shelves passing through each sub-area (not shown in the figure). winning bid).
  • sub-regions 215 and 218 are respectively determined as congestion key points 215 and 218 according to their own congestion factors.
  • the congestion key points 215 and 218 are both in the preset rectangular area as shown in Figure 3. Therefore, the congestion key points 215 and 218 can be merged into the congestion key point 219, which not only reduces the congestion key points but also facilitates the robot's pre-set operation. Scheduling control in a rectangular area.
  • a workplace map will have at least one road passing through a critical congestion point.
  • the scheduling system is only allowed to schedule a predetermined number of robots to pass through the congestion critical point until all the predetermined number of robots leave the congestion critical point.
  • the dispatching system is only allowed to schedule a predetermined number of robots to enter the road passing through the congestion key point area until the predetermined number of robots all leave the road passing the congestion key point.
  • the scheduling system is only allowed to schedule robots with the same direction of travel to enter the road containing the congestion key point, until all existing robots and scheduled robots on the road containing the congestion key point leave the road containing the congestion key point.
  • Figure 4 shows a schematic diagram of an autonomous mobile robot traveling in a workplace according to an example embodiment of the present application.
  • the workplace 30 includes a warehouse, a large storage supermarket shelf area, etc., including shelves 301, 302 and 303, roads 310, 311, 312 and 313, autonomous mobile robots 320, 321 and 322.
  • the congestion key points 330 and 331 are determined by the congestion factors of each sub-region.
  • Road 310 is the road between shelves 301 and 302, passing through key congestion point 330;
  • road 311 is the road between shelves 302 and 303, passing through key congestion point 331.
  • the scheduling system schedules and controls the travel of the robots 320, 321 and 322 on the roads 310 and 311.
  • the robot 320 enters the road 310 from the road 312 along the path 340, and the robot 321 enters the road 311 from the road 313 along the path 341.
  • the dispatching system controls the robot 320 to travel on the road 310 and pass through the key congestion point 330. Before the robot 320 leaves the key congestion point 330, the robot 322 receives instructions from the dispatch system, performs deceleration and/or parking operations, and does not pass through the key congestion point 330. .
  • the dispatching system controls the robot 321 to travel on the road 311 and pass through the congestion key point 331.
  • the robot 322 receives instructions from the dispatching system and performs deceleration and/or parking operations without passing through the congestion. Key point 331.
  • the dispatching system controls the robot 320 to travel on the road 310. Since the road 310 passes through the key congestion point 330, before the robot 320 leaves the road 310, the robot 322 receives instructions from the dispatching system and performs deceleration and/or parking operations without entering the road 310.
  • the dispatching system controls the robot 321 to travel on the road 311. Since the road 311 passes through the key congestion point 331, before the robot 321 leaves the road 311, the robot 322 receives instructions from the dispatching system and performs deceleration and/or parking operations without entering. Road 311.
  • the dispatching system controls the robot 320 to travel on the road 310. Since the road 310 passes through traffic After blocking the key point 330, the robot 322 receives instructions from the dispatch system and can enter the road 310 and travel in the same direction as the robot 320.
  • the dispatching system controls the robot 321 to travel on the road 311. Since the road 311 passes through the key congestion point 331, the robot 322 receives the instruction of the dispatching system and does not enter the road 311 before the robot 321 leaves the road 311 (because the robots 321 and 322 are on the road 311. The directions of travel are opposite to each other); after the robot 321 leaves the road 311, the robot 322 can enter the road 311.
  • Figure 5 shows a schematic diagram of the travel time and location information acquisition of an autonomous mobile robot according to an example embodiment of the present application.
  • the autonomous mobile robot 410 travels on a road 430 that passes in the left and right directions, and the road 430 passes through sub-regions 420, 421, and 422.
  • a plurality of video surveillance cameras 440 are installed on one side of the road 430.
  • a plane coordinate system for each sub-region is formed on the map, that is, the coordinates of the boundaries of each sub-region have been determined.
  • the abscissa of the left boundary of the sub-region 420 is x 1
  • the abscissa of the right boundary of the sub-region 422 is x 2 , as shown in FIG. 5 .
  • the robot 410 when the robot 410 is traveling, if the interval between sub-regions is ⁇ location in.
  • the robot 410 can directly report the time interval to the dispatching system according to its real-time position and vehicle speed in the coordinate system, thereby obtaining the passage time.
  • the video surveillance camera 440 can be installed on one or both sides of the road 430 to identify and track the robot 410 in real time, and transmit the traveling information of the robot 410 obtained through identification and tracking to the video surveillance system in real time.
  • the system calculates the time for the robot 410 to pass through a specific area (such as a key congestion point) based on the travel information of the robot 410, and sends it to the scheduling system.
  • Figure 6 shows a block diagram of an autonomous mobile robot scheduling system according to an example embodiment of the present application.
  • the autonomous mobile robot scheduling system includes a collection module 501, a storage module 503, a planning module 505, a calculation module 507 and a scheduling module 509.
  • the collection module 501 is used to obtain the time and/or position information of each robot during its travel in a workplace where multiple robots work together.
  • the time and/or position information during the travel of each robot includes the total time of each robot passing through each sub-area and the position information of each robot traveling between different sub-areas, which can be obtained by each robot.
  • the camera installed on the vehicle body acquires and sends it to the dispatching system through the communication device, or it can also be acquired to the dispatching system through the video surveillance system.
  • the time and/or location information obtained by the scheduling system through the video surveillance system includes the total time that multiple robots in the map pass through each sub-area and the location information of multiple robots traveling between different sub-areas.
  • the storage module 503 is used to store time and/or location information during the travel of each robot, as well as a map of the robot's workplace.
  • the map of the workplace can be pre-stored on the server and/or on each robot, and updated in real time based on changes in the workplace layout and the robot's movement.
  • the planning module 505 is used to divide multiple sub-regions in the map according to the map.
  • the shape of the sub-region can be divided according to the accuracy requirements for robot scheduling control. If high-precision scheduling control is required, the shape of the sub-region can be the same as the shape of the circumscribed polygon of the robot body; if there is no requirement for accuracy, it can be Divide into arbitrary shapes.
  • the area of each sub-region is slightly larger than the area of the circumscribed polygon of the robot body.
  • Each sub-area in the map is connected to each other and is filled with areas where robots can travel in the workplace.
  • the calculation module 507 is used to calculate the congestion factor of each sub-region based on the time and/or location information during the travel of each robot, and determine at least one congestion key point based on the congestion factor of each sub-region.
  • the congestion key point in the map is the congestion factor of the sub-area obtained by calculating the average of the total time for multiple robots to pass through a sub-area in the map within a predetermined time, and the median of the congestion factors of all sub-areas. Or the ratio of the average value, and there is at least one congestion key point in the map.
  • the scheduling module 509 is used to send scheduling instructions to multiple robots to schedule and control the passage of robots at key congestion points according to the map.
  • the robot receives the dispatching instructions issued by the dispatching system through the communication device, and controls the driving device to complete operations such as normal travel, deceleration, or parking when traveling on the road passing through key congestion points according to the dispatching instructions.
  • FIG. 7 shows a block diagram of an electronic device according to an example embodiment of the present application.
  • the electronic device 600 is only an example and should not bring any limitations to the functions and scope of use of the embodiments of the present application.
  • electronic device 600 is embodied in the form of a general computing device.
  • the components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, and the like.
  • the storage unit stores program code, and the program code can be executed by the processing unit 610, so that the processing unit 610 executes the methods described in this specification according to various exemplary embodiments of the present application.
  • the processing unit 610 may perform the method as shown in FIG. 2 .
  • the storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and/or a cache storage unit 6202, and may further include a read-only storage unit (ROM) 6203.
  • RAM random access storage unit
  • ROM read-only storage unit
  • Storage unit 620 may also include a program/utility 6204 having a set of (at least one) program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, Each of these examples, or some combination, may include the implementation of a network environment.
  • program/utility 6204 having a set of (at least one) program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, Each of these examples, or some combination, may include the implementation of a network environment.
  • Bus 630 may be a local area representing one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or using any of a variety of bus structures. bus.
  • Electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with electronic device 600, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. This communication may occur through input/output (I/O) interface 650.
  • the electronic device 600 may also communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 660.
  • Network suitable Orchestrator 660 may communicate with other modules of electronic device 600 via bus 630.
  • the technical solution according to the embodiment of the present application can be embodied in the form of a software product.
  • the software product can be stored in a non-volatile storage medium (which can be a CD-ROM, U disk, mobile hard disk, etc.) or on a network, including Several instructions to cause a computing device (which may be a personal computer, server, mobile terminal or network device, etc.) to execute the method according to the embodiment of the present application.
  • a software product may take the form of one or more readable media in any combination.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave carrying the readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.
  • a readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device.
  • Program code contained on a readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.
  • the program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., as well as conventional procedural programming. Language - such as "C" language or class similar programming language.
  • the program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device, such as provided by an Internet service. (business comes via Internet connection).
  • LAN local area network
  • WAN wide area network
  • the computer-readable medium carries one or more programs. When the one or more programs are executed by a device, the computer-readable medium implements the aforementioned functions.
  • modules can be distributed in devices according to the description of the embodiments, or can be modified accordingly in one or more devices that are only different from this embodiment.
  • the modules of the above embodiments can be combined into one module, or further divided into multiple sub-modules.
  • the technical solution of the present application effectively solves the problem of robots operating in relatively cramped space by setting congestion key points in the map of the autonomous mobile robot's workplace and controlling road traffic at the congestion key points.
  • the problem of road blockage and inaccessibility is easy to occur.

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

本申请提供一种自主移动机器人的调度方法、系统、电子设备和存储介质，涉及机器人技术领域。一种自主移动机器人的调度方法，应用于多台所述机器人协同工作的工作场所，包括：获取所述工作场所的地图，并在所述地图中划分出多个子区域；计算每个所述子区域的拥堵因子；根据所述拥堵因子确定至少一个所述子区域为拥堵关键点；基于所述拥堵关键点的道路信息，对多台所述机器人在所述拥堵关键点的通行进行调度控制。根据本申请的实施例，可解决多机器人协同工作时由于空间局促而造成的道路阻塞、通行困难的问题。

Description

自主移动机器人的调度方法、系统、电子设备和存储介质 技术领域
本申请涉及机器人技术领域，具体而言，涉及一种自主移动机器人的调度方法、系统、电子设备和存储介质。
背景技术
随着科技的发展，自主移动机器人已被广泛应用于仓储内的拣选、分拣和搬运等作业，可替代手动推车，减少人工无效走动，最大化人力效率，解放人力资源并提升准确性。
在多机器人协同工作的场景中，每台机器人根据接收到的任务进行路径规划与运动，并依靠单机的避障功能进行机器人之间的避让；这在工作环境空间比较局促的场景下，常常使得机器人面临道路阻塞无法通行的局面。
发明内容
本申请提供一种自主移动机器人的调度方法、系统、电子设备和存储介质，将机器人的工作场所划分为多个子区域并设置拥堵关键点，依照规则对拥堵关键点的道路交通进行控制，从而缓解在较为局促的工作场景下机器人通行不畅的问题，提升工作效率。
根据本申请的一方面，提供一种自主移动机器人的调度方法，应用于多台所述机器人协同工作的工作场所，包括：获取所述工作场所的地图，并在所述地图中划分出多个子区域；计算每个所述子区域的拥堵因子；根据所述拥堵因子确定至少一个所述子区域为拥堵关键点；基于所述拥堵关键点的道路信息，对多台所述机器人在所述拥堵关键点的通行进行调度控制。
根据一些实施例，所述多个子区域布满所述地图的机器人可行进区域，且相互连通。
根据一些实施例，所述拥堵因子为多台所述机器人在预定时间内分别通过所述子区域的总时间的平均值。
根据一些实施例，多台所述机器人分别通过所述子区域的总时间包括：正常通过所述子区域的时间；途经所述子区域时被动减速和/或停车的时间。
根据一些实施例，根据所述拥堵因子确定至少一个所述子区域为拥堵关键点，包括：在所述多个子区域中，计算全部所述子区域的所述拥堵因子的中位数或平均值；对于每个所述子区域，若所述子区域的拥堵因子与全部所述子区域的所述拥堵因子的中位数或平均值的比值大于预定阈值，则将所述子区域确定为所述拥堵关键点。
根据一些实施例，若在所述地图的预设范围内的所述多个子区域分别被确定为所述拥堵关键点，则所述多个子区域对应的所述拥堵关键点可合并为至少一个所述拥堵关键点。
根据一些实施例，对所述拥堵关键点的通行进行调度控制包括：仅允许调度预定数量的所述机器人通过所述拥堵关键点；仅允许调度预定数量的所述机器人进入途经所述拥堵关键点的道路；仅允许调度行进方向相同的所述机器人进入包含所述拥堵关键点的道路。
根据一些实施例，仅允许调度预定数量的所述机器人通过所述拥堵关键点，包括：控制预定数量的所述机器人经过所述拥堵关键点，并且所述预定数量的机器人全部离开所述拥堵关键点前，不再调度机器人进入所述拥堵关键点。
根据一些实施例，仅允许调度预定数量的所述机器人进入途经所述拥堵关键点的道路，包括：控制预定数量的所述机器人进入所述拥堵关键点，并且在所述预定数量的机器人全部离开途经所述拥堵关键点的道路前，不再调度机器人进入所述道路。
根据一些实施例，仅允许调度行进方向相同的所述机器人进入包含所述拥堵关键点的道路，包括：若所述道路经过所述拥堵关键点，并且所述道路中已有所述机器人行进，则只调度与所述机器人同方向的机器人进入所述道路,直至所述已有机器人和被调度的机器人全部离开所述道路。
根据本申请的一方面，提供一种自主移动机器人的调度系统，包括：采集模块，获取多台机器人协同工作的工作场所中每台所述机器人的行进过程中的时间和/或位置信息；存储模块，存储每台所述机器人的行进过程中的时间和/或位置信息，以及所述机器人的工作场所的地图；规划模块，根据所述地图，在所述地图中划分出多个子区域；计算模块，根据每台所述机器人的行进过程中的时间和/或位置信息，计算每个所述子区域的拥堵因子，并基于全部所述子区域的拥堵因子确定至少一个拥堵关键点；调度模块，发送调度指令至多台所述机器人，以根据所述地图对多台所述机器人在所述拥堵关键点的通行进行调度控制。
根据一些实施例，每台所述机器人的行进过程中的时间和/或位置信息，包括：每台所述机器人向所述调度系统上报的时间和/或位置信息；和/或所述调度系统通过视频监控获取的时间和/或位置信息。
根据一些实施例，每台所述机器人向所述调度系统上报的时间和/或位置信息，包括：每台所述机器人通过每个所述子区域的总时间；每台所述机器人在不同的所述子区域间行进的位置信息。
根据一些实施例，所述调度系统通过视频监控获取的时间和/或位置信息，包括：多台所述机器人分别通过每个所述子区域的总时间；多台所述机器人在不同的所述子区域间行进的位置信息。
根据本申请的一方面，提供一种可自主移动的机器人，包括：车身；摄像头，安装于所述车身上，用于获取所述机器人行进过程中的时间和/或位置信息；通信装置，上报所述机器人行进过程中的时间和/或位置信息至如前述的调度系统，并接收所述调度系统的调度指令；存储器；处理器；驱动装置，驱动所述车身行进。
根据本申请的一方面，提供一种电子设备，包括：一个或多个处理器；存储装置，用于存储一个或多个程序；当所述一个或多个程序被所述一个或多个处理器执行，使得一个或多个处理器实现如前述的方法。
根据本申请的一方面，提供一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现如前述的方法。
根据本申请的实施例，通过设置拥堵关键点并对拥堵关键点的交通进行管理，有效减轻多个机器人在同一点集中时出现的拥堵问题，提升 机器人的工作效率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例。
图1示出根据本申请示例实施例的一种自主移动机器人的调度体系示意图。
图2示出根据本申请示例实施例的一种自主移动机器人的调度方法流程图。
图3示出根据本申请示例实施例的拥堵关键点与子区域的关系示意图。
图4示出根据本申请示例实施例的自主移动机器人在工作场所中的行进示意图。
图5示出根据本申请示例实施例的自主移动机器人的行进时间和位置信息获取示意图。
图6示出根据本申请示例实施例的一种自主移动机器人调度系统的框图。
图7示出根据本申请示例实施例的电子设备的框图。
具体实施方式
现在将参考附图更全面地描述示例实施例。然而，示例实施例能够以多种形式实施，且不应被理解为限于在此阐述的实施例；相反，提供这些实施例使得本申请将全面和完整，并将示例实施例的构思全面地传达给本领域的技术人员。在图中相同的附图标记表示相同或类似的部分，因而将省略对它们的重复描述。
所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。在下面的描述中，提供许多具体细节从而给出对本公开的 实施例的充分理解。然而，本领域技术人员将意识到，可以实践本公开的技术方案而没有这些特定细节中的一个或更多，或者可以采用其他的方式、组元、材料、装置或操作等。在这些情况下，将不详细示出或描述公知结构、方法、装置、实现、材料或者操作。
附图中所示的流程图仅是示例性说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解，而有的操作/步骤可以合并或部分合并，因此实际执行的顺序有可能根据实际情况改变。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
本申请提供一种自主移动机器人的调度方法、系统、电子设备和存储介质，可通过设置拥堵关键点并对拥堵关键点的交通进行控制，使得在工作环境比较局促的场景下仅依靠机器人单机的避障功能无法解决的道路阻塞无法通行的问题得到有效缓解。
下面将参照附图，对根据本申请实施例的一种自主移动机器人的调度方法、系统、电子设备和存储介质进行详细说明。
图1示出根据本申请示例实施例的一种自主移动机器人的调度体系示意图。
如图1所示，自主移动机器人的调度体系包括调度系统101、视频监控系统102、机器人103和网络104。
应该理解，图1中的系统、网络和机器人的数目仅仅是示意性的。根据现实需要，可以具有任意数目的系统、网络和机器人。
调度系统101通过网络104与机器人103进行实时交互，获取机器人的行进时间和/或在机器人工作场所的地图中的位置信息，并通过网络104与视频监控系统102连接，获取整个地图中所有机器人的行进时间和/或位置信息。
根据一些实施例，调度系统101在工作场所地图中划分出多个子区域，并根据机器人的行进时间和位置信息计算每个子区域的拥堵因子。
进一步地，调度系统101根据每个子区域的拥堵因子确定拥堵关键点，并按规则发送调度指令至机器人103以对拥堵关键点处的机器人通行进行控制。
视频监控系统102通过分布于机器人工作场所中的各摄像头获取整个地图中所有机器人的行进时间和/或位置信息，并发送至调度系统101。
机器人103通过在车身上安装的摄像头获取自身的行进时间和/或在地图中的实时位置信息，发送至调度系统101并接收调度系统下发的调度指令，根据调度指令在地图中行进。
网络104可用以在调度系统101、视频监控系统102和机器人103之间提供网络通信链路的介质，可以包括各种连接类型，例如光纤电缆、无线通信链路等。
图2示出根据本申请示例实施例的一种自主移动机器人的调度方法流程图。
如图2所示，在S201，获取工作场所的地图，并在地图中划分出多个子区域。
一般地，工作场所的地图包括场所分布信息和道路信息，可被存储在服务器(例如，调度系统所在的服务器)或在工作场所中进行协同工作的机器人中，由此，可通过服务器或机器人获取地图信息并可预先在地图上铺设多条可供机器人行进的道路。
进一步地，工作场所的地图可根据工作场所布局的变化及机器人的行进移动而被更新，使得由服务器或机器人获取的地图信息为最新更新的地图信息。
根据一些实施例，根据自主移动机器人的车体外切多边形的形状，将工作场所的地图划分为与机器人车体外切多边形的形状相同的多个子区域。
可选地，子区域的形状可根据对机器人调度控制精确度的要求而变化，如需精确度高的调度控制，则子区域的形状可与机器人车体外切多边形的形状相同。
另外，每个子区域的面积应大于机器人车体外切多边形的面积，并且每个子区域之间相互连通，多个子区域布满地图中机器人的可行进区域。
在S203，计算每个子区域的拥堵因子。
根据一些实施例，子区域的拥堵因子n为在预定时间内，在地图中的多台机器人通过此子区域的时间的平均值，其中，预定时间为经验参数，可根据实际需求设定。
例如，在预定时间内，共有10台机器人通过地图中的一个子区域，通过的时间分别为n1、n2、......n10，此子区域的拥堵因子n＝(n1+n2+......+n10)/10。
一般地，每台机器人通过子区域的时间只包括正常通过时间和在通过子区域的过程中因自动避障被动减速和/或停车的时间，不包括因任务而主动控制停车的时间。
根据一些实施例，控制机器人从地图中的一个子区域开始行进，在离开此子区域并到达相邻的子区域时，则认为机器人通过此子区域。
进一步地，每台机器人在行进过程中的时间及位置信息，通过安装于车身的摄像头以及视频监控系统获取。
在S205，根据拥堵因子确定至少一个子区域为拥堵关键点。
根据每个子区域的拥堵因子，计算全部子区域的拥堵因子的中位数或平均值m。
若一个子区域的拥堵因子为n，并且n与m的比值大于预定阈值，则此子区域即为拥堵关键点。
预定阈值的设定根据机器人所有任务的完成时间和单一任务的平均完成时间进行调整。
一般地，由于机器人在一段时间内完成的任务是并发的，所有任务的完成时间和单一任务的平均完成时间不是正比关系，即所有任务的完成时间短，单一任务的平均完成时间不一定短，因此，预定阈值会根据不同的项目要求进行调整。
例如，若任务所属的项目追求最大吞吐量，则所有任务完成时间越短阈值越合理；若任务所属的项目追求及时性，则单一任务的平均完成 时间越短阈值越合理。
根据一些实施例，在预设范围内分别存在多个被确定为拥堵关键点的子区域，则将在预设范围内的多个子区域对应的拥堵关键点合并为一个拥堵关键点。
例如，在工作场所的地图中，设定子区域数量为3x3的矩形区域，如图3所示，此区域中包括子区域210至218，以及途径各子区域的道路和货架等(未在图中标出)。
其中，子区域215和218根据自身的拥堵因子被分别确定为拥堵关键点215和218。
拥堵关键点215和218同处于如图3所示的预设的矩形区域中，因此，可将拥堵关键点215和218合并为拥堵关键点219，在减少拥堵关键点的同时有利于机器人在预设的矩形区域中的调度控制。
在S207，基于拥堵关键点的道路信息，对多台机器人在拥堵关键点的通行进行调度控制。
一般地，工作场所的地图中至少有一条道路途经拥堵关键点。
根据一些实施例，仅允许调度系统调度预定数量的机器人通过拥堵关键点，直至预定数量的机器人全部离开拥堵关键点。即，
控制预定数量的机器人沿调度路径经过拥堵关键点，在预定数量的机器人离开拥堵关键点前，调度系统不再调度预定数量以外的机器人进入拥堵关键点。
根据一些实施例，仅允许调度系统调度预定数量的机器人进入途经拥堵关键点区域的道路，直至预定数量的机器人全部离开途经拥堵关键点的道路。即，
控制预定数量的机器人沿调度路径进入途经拥堵关键点的道路，并且在预定数量的机器人全部离开途经拥堵关键点的道路前，调度系统不再调度预定数量以外的机器人进入途经拥堵关键点的道路。
根据一些实施例，仅允许调度系统调度行进方向相同的机器人进入包含拥堵关键点的道路，直至包含拥堵关键点的道路中已有的机器人和被调度的机器人全部离开包含拥堵关键点的道路。即，
若地图的一条道路经过拥堵关键点，并且此道路中已有机器人在行 进，则调度系统只调度与此机器人同方向的机器人进入此道路,直至此机器人和被调度的机器人全部离开此道路。
图4示出根据本申请示例实施例的自主移动机器人在工作场所中的行进示意图。
如图4所示，工作场所30包括仓库、大型仓储超市货架区等，其中包括货架301、302和303，道路310、311、312和313，自主移动机器人320、321和322，根据工作场所30中各子区域的拥堵因子确定的拥堵关键点330和331。
道路310为货架301和302间的道路，途经拥堵关键点330；道路311为货架302和303间的道路，途经拥堵关键点331。
调度系统对机器人320、321和322在道路310和311上的行进进行调度控制。
机器人320由道路312沿路径340进入道路310，机器人321由道路313沿路径341进入道路311。
实施例一：
调度系统控制机器人320在道路310上行进并通过拥堵关键点330，在机器人320离开拥堵关键点330前，机器人322接收调度系统的指令，执行减速和/或停车的操作，不通过拥堵关键点330。
同样地，调度系统控制机器人321在道路311上行进并通过拥堵关键点331，在机器人321离开拥堵关键点331前，机器人322接收调度系统的指令，执行减速和/或停车的操作，不通过拥堵关键点331。
实施例二：
调度系统控制机器人320在道路310上行进，由于道路310途经拥堵关键点330，在机器人320离开道路310前，机器人322接收调度系统的指令，执行减速和/或停车的操作，不进入道路310。
同样地，调度系统控制机器人321在道路311上行进，由于道路311途经拥堵关键点331，在机器人321离开道路311前，机器人322接收调度系统的指令，执行减速和/或停车的操作，不进入道路311。
实施例三：
调度系统控制机器人320在道路310上行进，由于道路310途经拥 堵关键点330，机器人322接收调度系统的指令，可进入道路310，与机器人320同向行进。
调度系统控制机器人321在道路311上行进，由于道路311途经拥堵关键点331，机器人322接收调度系统的指令，在机器人321离开道路311前不进入道路311(因机器人321、322在道路311上的行进方向互为逆向)；在机器人321离开道路311后，机器人322可进入道路311。
图5示出根据本申请示例实施例的自主移动机器人的行进时间和位置信息获取示意图。
如图5所示，自主移动机器人410行进在左右方向通行的道路430中，并且道路430途经子区域420、421和422，道路430一侧安装有多个视频监控摄像头440。
一般地，调度系统在机器人工作场所的地图中划分子区域时，在地图上形成关于各子区域的平面坐标系，即各子区域边界的坐标已确定。
例如，子区域420左侧边界的横坐标为x1，子区域422右侧边界的横坐标为x2，如图5所示。
根据一些实施例，机器人410在行进过程中，若子区域的间隔为δx，可根据预定规则，每隔固定距离δx(即在机器人经过子区域边界时)向调度系统上报机器人410在坐标系中的位置。
进一步地，机器人410可根据自身在坐标系中的实时位置和车速，直接上报时间间隔至调度系统，从而获取通行时间。
视频监控摄像头440可设置于道路430的一侧或两侧，用于对机器人410进行实时的识别和跟踪，并将通过识别和跟踪获取的机器人410的行进信息实时传输至视频监控系统，视频监控系统根据机器人410的行进信息计算机器人410通过特定区域(如拥堵关键点)的时间，发送至调度系统。
图6示出根据本申请示例实施例的一种自主移动机器人调度系统的框图。
如图6所示，自主移动机器人调度系统包括采集模块501、存储模块503、规划模块505、计算模块507和调度模块509。
采集模块501用于获取多台机器人协同工作的工作场所中每台机器人的行进过程中的时间和/或位置信息。
根据一些实施例，每台机器人的行进过程中的时间和/或位置信息包括每台机器人通过每个子区域的总时间以及每台机器人在不同的子区域间行进的位置信息，可通过每台机器人车身安装的摄像头获取并通过通信装置发送至调度系统，也可通过视频监控系统获取至调度系统。
进一步地，调度系统通过视频监控系统获取的时间和/或位置信息包括地图中的多台机器人分别通过每个子区域的总时间以及多台机器人在不同的子区域间行进的位置信息。
存储模块503用于存储每台机器人的行进过程中的时间和/或位置信息，以及机器人的工作场所的地图。
工作场所的地图可预先存储于服务器和/或每台机器人，并根据工作场所布局的变化及机器人的行进移动实时更新。
规划模块505用于根据地图，在地图中划分出多个子区域。
子区域的形状可根据对机器人调度控制的精确度需求进行划分，如需精确度高的调度控制，则子区域的形状可与机器人车体外切多边形的形状相同；如对精确度无要求，可划分为任意形状。
根据本申请的实施例，每个子区域的面积稍大于机器人车体外切多边形的面积。
地图中的每个子区域相互连通，并且布满工作场所中机器人的可行进区域。
计算模块507用于根据每台机器人的行进过程中的时间和/或位置信息，计算每个子区域的拥堵因子，并基于每个子区域的拥堵因子确定至少一个拥堵关键点。
地图中的拥堵关键点，是在预定时间内，计算多台机器人通过地图中一个子区域的总时间的平均值而得到的此子区域的拥堵因子，与全部子区域的拥堵因子的中位数或平均值的比值来确定，并且，地图中的拥堵关键点至少有一个。
调度模块509用于发送调度指令至多台机器人，以根据地图对拥堵关键点的机器人的通行进行调度控制。
机器人通过通信装置接收调度系统下发的调度指令，并根据调度指令在途经拥堵关键点的道路上行进时控制驱动装置完成正常行进、减速或停车等操作。
图7示出根据本申请示例实施例的电子设备的框图。
如图7所示，电子设备600仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图7所示，电子设备600以通用计算设备的形式表现。电子设备600的组件可以包括但不限于：至少一个处理单元610、至少一个存储单元620、连接不同系统组件(包括存储单元620和处理单元610)的总线630、显示单元640等。其中，存储单元存储有程序代码，程序代码可以被处理单元610执行，使得处理单元610执行本说明书描述的根据本申请各种示例性实施方式的方法。例如，处理单元610可以执行如图2中所示的方法。
存储单元620可以包括易失性存储单元形式的可读介质，例如随机存取存储单元(RAM)6201和/或高速缓存存储单元6202，还可以进一步包括只读存储单元(ROM)6203。
存储单元620还可以包括具有一组(至少一个)程序模块6205的程序/实用工具6204，这样的程序模块6205包括但不限于：操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。
总线630可以为表示几类总线结构中的一种或多种，包括存储单元总线或者存储单元控制器、外围总线、图形加速端口、处理单元或者使用多种总线结构中的任意总线结构的局域总线。
电子设备600也可以与一个或多个外部设备700(例如键盘、指向设备、蓝牙设备等)通信，还可与一个或者多个使得用户能与该电子设备600交互的设备通信，和/或与使得该电子设备600能与一个或多个其它计算设备进行通信的任何设备(例如路由器、调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口650进行。并且，电子设备600还可以通过网络适配器660与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。网络适 配器660可以通过总线630与电子设备600的其它模块通信。应当明白，尽管图中未示出，可以结合电子设备600使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。
通过以上的实施方式的描述，本领域的技术人员易于理解，这里描述的示例实施例可以通过软件实现，也可以通过软件结合必要的硬件的方式来实现。根据本申请实施例的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD-ROM，U盘，移动硬盘等)中或网络上，包括若干指令以使得一台计算设备(可以是个人计算机、服务器、移动终端或者网络设备等)执行根据本申请实施例的方法。
软件产品可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以为但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
计算机可读存储介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了可读程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。可读存储介质还可以是可读存储介质以外的任何可读介质，该可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。可读存储介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、有线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言的任意组合来编写用于执行本申请操作的程序代码，程序设计语言包括面向对象的程序设计语言—诸如Java、C++等，还包括常规的过程式程序设计语言—诸如“C”语言或类 似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算设备，或者，可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。
上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被一个该设备执行时，使得该计算机可读介质实现前述功能。
本领域技术人员可以理解上述各模块可以按照实施例的描述分布于装置中，也可以进行相应变化唯一不同于本实施例的一个或多个装置中。上述实施例的模块可以合并为一个模块，也可以进一步拆分成多个子模块。
根据本申请的一些实施例，本申请的技术方案通过在自主移动机器人工作场所的地图中设置拥堵关键点，并对拥堵关键点的道路交通进行控制，有效解决了机器人在空间较为局促的场景下易出现的道路阻塞无法通行的问题。
以上对本申请实施例进行了详细介绍，以上实施例的说明仅用于帮助理解本申请的方法及其核心思想。同时，本领域技术人员依据本申请的思想，基于本申请的具体实施方式及应用范围上做出的改变或变形之处，都属于本申请保护的范围。综上所述，本说明书内容不应理解为对本申请的限制。

Claims (17)

  1. 一种自主移动机器人的调度方法，应用于多台所述机器人协同工作的工作场所，其特征在于，包括：
    获取所述工作场所的地图，并在所述地图中划分出多个子区域；
    计算每个所述子区域的拥堵因子；
    根据所述拥堵因子确定至少一个所述子区域为拥堵关键点；
    基于所述拥堵关键点的道路信息，对多台所述机器人在所述拥堵关键点的通行进行调度控制。
  2. 根据权利要求1所述的方法，其特征在于，所述多个子区域布满所述地图的机器人可行进区域，且相互连通。
  3. 根据权利要求1所述的方法，其特征在于，所述拥堵因子为多台所述机器人在预定时间内分别通过所述子区域的总时间的平均值。
  4. 根据权利要求3所述的方法，其特征在于，多台所述机器人分别通过所述子区域的总时间包括：
    正常通过所述子区域的时间；
    途经所述子区域时被动减速和/或停车的时间。
  5. 根据权利要求1所述的方法，其特征在于，根据所述拥堵因子确定至少一个所述子区域为拥堵关键点，包括：
    在所述多个子区域中，计算全部所述子区域的所述拥堵因子的中位数或平均值；
    对于每个所述子区域，若所述子区域的拥堵因子与全部所述子区域的所述拥堵因子的中位数或平均值的比值大于预定阈值，则将所述子区域确定为所述拥堵关键点。
  6. 根据权利要求1所述的方法，其特征在于，还包括：
    若在所述地图的预设范围内的所述多个子区域分别被确定为所述拥堵关键点，则所述多个子区域对应的所述拥堵关键点可合并为至少一个所述拥堵关键点。
  7. 根据权利要求1所述的方法，其特征在于，对所述拥堵关键点的通行进行调度控制包括：
    仅允许调度预定数量的所述机器人通过所述拥堵关键点；
    仅允许调度预定数量的所述机器人进入途经所述拥堵关键点的道路；
    仅允许调度行进方向相同的所述机器人进入包含所述拥堵关键点的道路。
  8. 根据权利要求7所述的方法，其特征在于，仅允许调度预定数量的所述机器人通过所述拥堵关键点，包括：
    控制预定数量的所述机器人经过所述拥堵关键点，并且所述预定数量的机器人全部离开所述拥堵关键点前，不再调度机器人进入所述拥堵关键点。
  9. 根据权利要求7所述的方法，其特征在于，仅允许调度预定数量的所述机器人进入途经所述拥堵关键点的道路，包括：
    控制预定数量的所述机器人进入所述拥堵关键点，并且在所述预定数量的机器人全部离开途经所述拥堵关键点的道路前，不再调度机器人进入所述道路。
  10. 根据权利要求7所述的方法，其特征在于，仅允许调度行进方向相同的所述机器人进入包含所述拥堵关键点的道路，包括：
    若所述道路经过所述拥堵关键点，并且所述道路中已有所述机器人行进，则只调度与所述机器人同方向的机器人进入所述道路,直至所述已有机器人和被调度的机器人全部离开所述道路。
  11. 一种自主移动机器人的调度系统，其特征在于，包括：
    采集模块，获取多台机器人协同工作的工作场所中每台所述机器人的行进过程中的时间和/或位置信息；
    存储模块，存储每台所述机器人的行进过程中的时间和/或位置信息，以及所述机器人的工作场所的地图；
    规划模块，在所述地图中划分出多个子区域；
    计算模块，根据每台所述机器人的行进过程中的时间和/或位置信息，计算每个所述子区域的拥堵因子，并基于每个所述子区域的拥堵因子确定至少一个拥堵关键点；
    调度模块，发送调度指令至多台所述机器人，以根据所述地图对多台所述机器人在所述拥堵关键点的通行进行调度控制。
  12. 根据权利要求11所述的调度系统，其特征在于，每台所述机器人的行进过程中的时间和/或位置信息，包括：
    每台所述机器人向所述调度系统上报的时间和/或位置信息；和/或
    所述调度系统通过视频监控获取的时间和/或位置信息。
  13. 根据权利要求12所述的调度系统，其特征在于，每台所述机器人向所述调度系统上报的时间和/或位置信息，包括：
    每台所述机器人通过每个所述子区域的总时间；
    每台所述机器人在不同的所述子区域间行进的位置信息。
  14. 根据权利要求12所述的调度系统，其特征在于，所述调度系统通过视频监控获取的时间和/或位置信息，包括：
    多台所述机器人分别通过每个所述子区域的总时间；
    多台所述机器人在不同的所述子区域间行进的位置信息。
  15. 一种可自主移动的机器人，其特征在于，包括：
    车身；
    摄像头，安装于所述车身上，用于获取所述机器人行进过程中的时间和/或位置信息；
    通信装置，上报所述机器人行进过程中的时间和/或位置信息至如权利要求11-14中任一项所述的调度系统，并接收所述调度系统的调度指令；
    存储器；
    处理器；
    驱动装置，驱动所述车身行进。
  16. 一种电子设备，其特征在于，包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行，使得一个或多个处理器实现如权利要求1-10中任一所述的方法。
  17. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述程序被处理器执行时实现如权利要求1-10中任一所述的方法。
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