CN116141342B

CN116141342B - Information synchronization and task cooperation method and device of distributed robot and robot

Info

Publication number: CN116141342B
Application number: CN202310437568.9A
Authority: CN
Inventors: 张学彦; 林淦斌; 叶航
Original assignee: Fuqin Intelligent Technology Kunshan Co ltd
Current assignee: Fuqin Intelligent Technology Kunshan Co ltd
Priority date: 2023-04-23
Filing date: 2023-04-23
Publication date: 2023-06-30
Anticipated expiration: 2043-04-23
Also published as: CN116141342A

Abstract

The invention discloses a method and a device for information synchronization and task collaboration of a distributed robot and the robot. The method comprises the following steps: monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing the network through the preset network port; if the broadcast message is not received, the robot is used as a broadcaster to generate the broadcast message according to the information of the broadcaster, and broadcasts the broadcast message through a preset network port, so that other robots in the access network submit the state information of the robot to the broadcaster as participants after receiving the broadcast message; according to the received state information of the participants, the broadcast message is updated, the updated broadcast message is broadcast through a preset network port in the next broadcast period, and the information synchronization method of the distributed robot with low coupling and high flexibility is realized based on a flexible interaction mechanism mode, so that an important basis is provided for task cooperation of the distributed robot.

Description

Information synchronization and task cooperation method and device of distributed robot and robot

Technical Field

The present invention relates to the field of control technologies of distributed robots, and in particular, to a method and an apparatus for information synchronization and task collaboration of a distributed robot, and a robot.

Background

With the rising and rapid development of technologies such as artificial intelligence, big data, internet of things and automation technology, research of intelligent robots is receiving more and more attention. The multi-robot system has more advantages over a single robot, and thus has great significance in research on control of distributed robots.

The existing control method of the distributed robot mainly relies on a central server to collect information of the distributed robot and realize scheduling control of the distributed robot, so that distributed cooperation is realized to complete tasks. However, this approach has very high dependence on the central server, high control system coupling and poor flexibility. Once the central server is abnormal, all robots may not work properly.

Disclosure of Invention

The invention provides an information synchronization and task cooperation method and device of a distributed robot and the robot, which are used for solving the problems that the traditional control method of the distributed robot is extremely dependent on a central server, has high coupling and poor flexibility, and the information synchronization method of the distributed robot with low coupling and high flexibility is realized based on a flexible interaction mechanism mode, so that an important basis is provided for task cooperation of the distributed robot.

According to an aspect of the present invention, there is provided an information synchronization method of a distributed robot, including:

monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing to a network through the preset network port;

if the broadcast message is not received, the robot is used as a broadcaster to generate the broadcast message according to the information of the broadcaster, and broadcasts the broadcast message through the preset network port, so that other robots in an access network submit the state information of the robot to the broadcaster as participants after receiving the broadcast message;

and updating the broadcast message according to the received state information of the participants, and broadcasting the updated broadcast message through the preset network port in the next broadcasting period.

According to another aspect of the present invention, there is provided an information synchronization method of a distributed robot, including:

if a broadcast message is received, the participant analyzes the address of the broadcaster from the broadcast message and submits the state information of the participant to the address of the broadcaster so that the broadcaster updates the broadcast message based on the state information.

According to another aspect of the present invention, there is provided a task cooperation method of a distributed robot, including:

the information synchronization method of the distributed robot and other robots accessed to the network are adopted to perform information synchronization;

and if the cooperative task is received through the target interaction terminal arranged on the self, the cooperative task is sent to an executor based on a preset task cooperative mode, so that the executor executes the cooperative task.

According to another aspect of the present invention, there is provided an information synchronization apparatus of a distributed robot, including:

the monitoring module is used for monitoring a preset network port to acquire broadcast messages broadcast by other robots accessing the network through the preset network port;

the broadcasting module is used for generating a broadcasting message as a broadcaster according to the information of the broadcaster if the broadcasting message is not received, and broadcasting the broadcasting message through the preset network port so that other robots in an access network can be used as participants to submit the state information of the broadcaster after receiving the broadcasting message;

and the updating module is used for updating the broadcast message according to the received state information of the participant and broadcasting the updated broadcast message through the preset network port in the next broadcasting period.

and the information submitting and transmitting module is used for analyzing the broadcaster address from the broadcast message as a participant if the broadcast message is received, and submitting the state information of the information submitting and transmitting module to the broadcaster address so that the broadcaster updates the broadcast message based on the state information.

According to another aspect of the present invention, there is provided a task cooperation device of a distributed robot, including:

the information synchronization module is used for carrying out information synchronization by adopting the information synchronization method of the distributed robot and other robots accessed to the network;

and the task execution module is used for sending the collaborative task to an executor based on a preset task collaboration mode if the collaborative task is received through the target interaction terminal arranged on the task execution module, so that the executor executes the collaborative task.

According to another aspect of the present invention, there is provided a robot including:

At least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor, so that the at least one processor can perform the information synchronization method of the distributed robot or the task cooperation method of the distributed robot according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the information synchronization method of the distributed robot or the task collaboration method of the distributed robot according to any of the embodiments of the present invention when executed.

The embodiment of the invention provides a method and a device for information synchronization and task collaboration of a distributed robot and the robot, wherein the method comprises the following steps: monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing the network through the preset network port;

if the broadcast message is not received, the robot is used as a broadcaster to generate the broadcast message according to the information of the broadcaster, and broadcasts the broadcast message through a preset network port, so that other robots in the access network submit the state information of the robot to the broadcaster as participants after receiving the broadcast message; updating the broadcast message according to the received state information of the participants, and broadcasting the updated broadcast message through a preset network port in the next broadcasting period; the information of the participants is collected by the broadcasters and broadcast to other participants, so that the problems that the traditional control method of the distributed robot is extremely dependent on a central server, the coupling is high and the flexibility is poor are solved, the information synchronization of the distributed robot is realized based on a flexible interaction mechanism mode, the coupling is low, the flexibility is high, and an important basis is provided for task cooperation of the distributed robot.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a method for synchronizing information of a distributed robot according to a first embodiment of the present invention;

fig. 2 is a flowchart of a method for synchronizing information of a distributed robot according to a second embodiment of the present invention;

fig. 3 is a flowchart of a method for synchronizing information of a distributed robot according to a third embodiment of the present invention;

fig. 4 is a flowchart of a method for synchronizing information of a distributed robot according to a fourth embodiment of the present invention;

fig. 5 is a flowchart of a task collaboration method of a distributed robot according to a fifth embodiment of the present invention;

Fig. 6 is a schematic structural diagram of an information synchronization device of a distributed robot according to a sixth embodiment of the present invention;

fig. 7 is a schematic structural diagram of an information synchronization device of a distributed robot according to a seventh embodiment of the present invention;

fig. 8 is a schematic structural diagram of a task collaboration device of a distributed robot according to an eighth embodiment of the present invention;

fig. 9 is a schematic diagram of a robot structure for implementing a method for information synchronization or task collaboration of a distributed robot according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a method for synchronizing information of a distributed robot according to an embodiment of the present invention, where the method may be applied to a case of synchronizing information of a distributed robot accessing a network, and the method may be performed by an information synchronization device of a distributed robot as a broadcaster, and the information synchronization device of the distributed robot may be implemented in a form of hardware and/or software, and the information synchronization device of the distributed robot may be configured in the robot. In an embodiment of the present invention, the distributed robot may include: an automated guided transport vehicle (Automated Guided Vehicle, AGV), a mission robot, or other robot requiring cooperation.

As shown in fig. 1, the method includes:

s110, monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing the network through the preset network port.

The preset network port is a network port for the robot serving as a broadcaster to broadcast the broadcast message, and can be set according to actual requirements. The broadcast message is a message containing information of robots accessing the network under the distributed robot system, and can be broadcast from a preset network port in a broadcast mode.

Specifically, the current robot in the distributed robot system enters a silence period after being started, monitors a preset network port in the silence period, and attempts to acquire broadcast messages broadcast by other robots accessing the network through the preset network port from the preset network port. Because the preset network port is only used for the robot serving as the broadcaster to broadcast the broadcast message in the embodiment of the invention, according to the result that the current robot monitors the preset network port, namely whether the broadcast message is acquired from the preset network port, whether other robots exist in the network accessed by the robot serving as broadcasters can be judged, so that the identity micro-broadcaster or the participant of the robot can be determined.

And S120, if the broadcast message is not received, the robot serving as a broadcaster generates the broadcast message according to the information of the robot serving as the broadcaster, and broadcasts the broadcast message through a preset network port, so that other robots in the access network serve as participants to submit the state information of the robot serving as the participants to the broadcaster after receiving the broadcast message.

In the information synchronization process of the distributed robots, the identity of the robot accessing the network may include: broadcasters and participants; the broadcaster is a party broadcasting the broadcast message outwards, and the participant is a party receiving the broadcast message and submitting status information.

Whether the robot is a broadcaster or participant, the information itself may include: one or more of address (Internet Protocol, IP) of the robot, identity information (broadcasters or participants), positioning information, fault status information (e.g., whether a fault and/or type of fault, etc.), and task performance information (e.g., whether a task is being performed and/or type of task being performed, etc.).

Specifically, since the broadcast message can only be broadcast by the broadcaster through the preset network port, if the current robot monitors that the preset network port does not receive the broadcast message within a preset time (such as a broadcast period), the current robot considers that the current robot is the first robot in the access network, and no other robots exist in the accessed network at present, so that the current robot determines the identity of the current robot as the broadcaster. The robot serving as the broadcaster can generate a broadcast message according to the information of the robot, and then broadcast the broadcast message through the preset network port in a certain broadcast period, so that other robots in the access network can serve as participants to receive the broadcast message through monitoring the preset network port, and the state information of the robot is submitted to the broadcaster according to the information in the broadcast message, so that the broadcaster can receive the state information of all robots in the access network.

S130, updating the broadcast message according to the received state information of the participants, and broadcasting the updated broadcast message through a preset network port in the next broadcasting period.

Specifically, after receiving the status information submitted by the participants of the access network, the broadcaster can update the broadcast message according to the status information of each participant, and broadcast the updated broadcast message through a preset network port in the next broadcast period, so that each participant can acquire the status information of other robots of the access network through receiving the updated broadcast message broadcast by the broadcaster, and the information of the distributed robots of the access network can be synchronized.

According to the technical scheme, the current robot monitors the preset network port after being started to acquire the broadcast message broadcast by other robots accessing the network through the preset network port; if the broadcast message is not received, the robot is used as a broadcaster to generate the broadcast message according to the information of the broadcaster, and broadcasts the broadcast message through a preset network port, so that other robots in the access network submit the state information of the robot to the broadcaster as participants after receiving the broadcast message; and updating the broadcast message according to the received state information of the participants, and broadcasting the updated broadcast message through a preset network port in the next broadcasting period. According to the invention, the identity of the distributed robot is divided into the broadcasters and the participants, the broadcasters receive the state information submitted by the participants and broadcast the state information to the participants, so that the information synchronization of the distributed robot is realized, the problems that the traditional control method of the distributed robot is extremely dependent on the central server, high in coupling and poor in flexibility are solved, the information synchronization method of the distributed robot with low coupling and high flexibility is realized based on a flexible interaction mechanism mode, and an important basis is provided for task cooperation of the distributed robot.

Example two

Fig. 2 is a flowchart of an information synchronization method of a distributed robot according to a second embodiment of the present invention, where the above embodiment is further refined. As shown in fig. 2, the method includes:

s210, monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing the network through the preset network port.

S220, if the broadcast message is not received, the address of the broadcaster is written in the network robot list as the broadcaster, and the broadcast message is generated according to the network robot list and the state information of the broadcaster.

The network robot list is understood to be a list for recording information of robots accessing a network (on the network), and information synchronization is required between robots on the network. The online robot list at least comprises: robot address.

Specifically, if the current robot monitors that the preset network port does not receive the broadcast message, the current robot determines that the identity of the current robot is the broadcaster. As a broadcaster capable of generating a broadcast message from its own information, it may specifically include: and writing the address of the self into the network robot list, acquiring the state information of the self, and generating a broadcast message according to the robot address in the network robot list and the state information of the self (namely, the address and the state information of a broadcaster).

And S230, broadcasting the broadcast message through a preset network port, so that other robots in the access network can serve as participants to submit the state information of the robots to the broadcaster after receiving the broadcast message.

Specifically, broadcasting a broadcast message containing the address and the state information of the broadcaster through a preset network port, so that other robots in the access network are used as participants, the broadcast message can be received through monitoring the preset network port, and the state information of the robots can be submitted to the broadcaster according to the information in the broadcast message, so that the broadcaster can receive the state information of all the robots in the access network.

S240, receiving state information submitted by the participants as broadcasters, and updating the online robot list and the corresponding state information in the broadcast message according to the state information of the participants; wherein the participant is a robot that accesses the network and submits status information upon receiving the broadcast message.

Specifically, after broadcasting the broadcast message containing the address and the state information of the broadcaster through a preset network port, the broadcaster can receive the state information submitted by the participant; writing the addresses of the participants into the network robot list, and updating the corresponding state information in the broadcast message by the state information submitted by the participants.

For example, updating the corresponding status information in the broadcast message according to the status information of the participant may include: for the status information submitted by the participant for the first time, writing the status information submitted by the participant into a broadcast message; and for the non-primary submitted state information of the participant, modifying the state information corresponding to the participant address in the broadcast message according to the submitted state information of the participant, and updating the broadcast message.

S250, broadcasting the updated broadcast message through a preset network port in the next broadcasting period.

S260, as a broadcaster, if the state information submitted by the target participant is not received in the period exceeding the first preset period, marking the target participant as an abnormal state, and deleting the information of the target participant from the online robot list in the broadcast message; wherein the target participant is one of the participants.

The first preset period is a time period for the broadcaster to determine whether the participant is abnormal, and the first preset period may be determined according to an information submitting period of the participant sending the status information, for example, the first preset period may be set to be an integer multiple, such as 1 time or 3 times, of the information submitting period of the participant, which is not limited in this embodiment of the present invention.

The target participant may be a participant in the distributed robotic system. The abnormal state of the target participant may include: fault status, maintenance status, or upgrade status, etc.

Specifically, after broadcasting the broadcast message, the broadcaster should receive the status information submitted by each participant according to a certain frequency, and if the status information submitted by a certain target participant is not received in the first preset period, the broadcaster may consider that the target participant is abnormal, so that the target participant is marked as an abnormal status. For participants in abnormal states, the broadcaster may delete the address of the target participant from the online robotic list in the broadcast message, and delete the address corresponding state information of the target participant in the broadcast message.

The information of the participants in the abnormal state is not participated in the information synchronization of the distributed robot from the broadcast message. However, after the abnormal state participant resumes the normal state, the broadcasting message can be received through monitoring the preset network port, and the state information of the participant can be submitted to the broadcaster according to the information in the broadcasting message, so that the participant participates in the information synchronization process of the distributed robot.

According to the technical scheme, the preset network port is monitored after the robot is started, so that broadcast messages broadcast by other robots accessing the network through the preset network port are obtained; if the broadcast message is not received, the address of the broadcaster is written into the network robot list as the broadcaster, and the broadcast message is generated according to the network robot list and the state information of the broadcaster; broadcasting the broadcast message through a preset network port, so that other robots in the access network submit own state information to the broadcaster as participants after receiving the broadcast message; as a broadcaster, receiving state information submitted by a participant, and updating an online robot list and corresponding state information in a broadcast message according to the state information of the participant; broadcasting the updated broadcast message through a preset network port in the next broadcasting period; and as a broadcaster, if the state information submitted by the target participant is not received in the period exceeding the first preset period, marking the target participant as an abnormal state, and deleting the information of the target participant from the online robot list in the broadcast message. According to the invention, the identity of the distributed robot is divided into the broadcasters and the participants without depending on a central server, and the broadcasters receive the state information submitted by each participant and broadcast the state information to each participant, so that the information synchronization of the distributed robot is realized; the method can form a networking structure of self-organizing multiple information interactions based on a flexible interaction mechanism mode, realizes an information synchronization method of a distributed robot with low coupling and high flexibility, and can maintain broadcast messages and delete information of participants in abnormal state in broadcast elimination; the individual robots can maintain or upgrade states independently, and information synchronization of other robots is not affected.

Example III

Fig. 3 is a flowchart of a method for synchronizing information of a distributed robot according to a third embodiment of the present invention, where the method may be applied to a case of synchronizing information of a distributed robot accessing a network, and the method may be performed by an information synchronization device of a distributed robot as a participant, and the information synchronization device of the distributed robot may be implemented in a form of hardware and/or software, and the information synchronization device of the distributed robot may be configured in the robot. As shown in fig. 3, the method includes:

s310, monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing the network through the preset network port.

S320, if the broadcast message is received, the broadcaster address is resolved from the broadcast message as a participant, and the state information of the participant is submitted to the broadcaster address so that the broadcaster updates the broadcast message based on the state information.

Specifically, since the broadcast message can only be broadcast by the broadcaster through the preset network port, if the current robot monitors that the preset network port receives the broadcast message, it is indicated that other robots already exist in the network accessed by the current robot as broadcasters, and thus the current robot determines the identity of the current robot as a participant. The current robot is used as a participant, analyzes the address of the broadcaster from the received broadcast messages, submits the state information of the current robot to the address of the broadcaster corresponding to the broadcaster, and enables the broadcaster to update the broadcast messages according to the state information of each participant after receiving the state information submitted by the participant accessing the network, and broadcast the updated broadcast messages through a preset network port in the next broadcast period.

Optionally, if the broadcast message is not received, and when the broadcast message is generated and broadcast through the preset network port, the preset network port is broadcasting the broadcast message generated by other robots, then determining itself as the participant.

Specifically, if the current robot monitors that the preset network port does not receive the broadcast message, but when the broadcast message is generated and the broadcast message is broadcast through the preset network port, the preset network port is broadcasting the broadcast message generated by other robots, which indicates that other robots exist as broadcasters, the current robot cannot be used as the broadcasters, so that the current robot is determined to be a participant.

According to the technical scheme, the preset network port is monitored after the robot is started, so that broadcast messages broadcast by other robots accessing the network through the preset network port are obtained; if the broadcast message is received, the participant analyzes the address of the broadcaster from the broadcast message and submits the state information of the participant to the address of the broadcaster so that the broadcaster updates the broadcast message based on the state information; according to the invention, the identity of the distributed robot is divided into the broadcasters and the participators, the participators receive the state information of other robots through the broadcast messages broadcast by the broadcasters, and broadcast the state of the participators to the other robots through the broadcast messages, so that the information synchronization of the distributed robots is realized, the problems that the traditional control method of the distributed robot is extremely dependent on the central server, the coupling is high and the flexibility is poor are solved, the information synchronization method of the distributed robot with low coupling and high flexibility is realized based on a flexible interaction mechanism mode, and an important basis is provided for task cooperation of the distributed robot.

Example IV

Fig. 4 is a flowchart of an information synchronization method of a distributed robot according to a fourth embodiment of the present invention, where the above embodiment is further refined. As shown in fig. 4, the method includes:

s410, monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing the network through the preset network port.

S420, if the broadcast message is received, analyzing the address of the broadcaster from the broadcast message as a participant, and submitting the state information of the participant to the address of the broadcaster through a unique communication port of the participant so that the broadcaster updates the broadcast message based on the state information; the unique communication port of the participant is determined according to the preset network port and the preset bit number of the protocol address of the participant.

Specifically, if the current robot monitors that the preset network port receives the broadcast message, the current robot determines the identity of the current robot as a participant. The participants, after each receipt of a broadcast message during the network, are able to resolve the broadcaster address from the broadcast message broadcast by the broadcaster, each communicating with the broadcaster using a unique communication port, submitting their own status information to the broadcaster address. Therefore, after receiving the status information submitted by the participants accessing the network, the broadcaster can update the broadcast message according to the status information of each participant, and broadcast the updated broadcast message through the preset network port in the next broadcast period.

Specifically, the unique communication port of the participant is generated by presetting a preset number of digits of the network port and the protocol address of the participant, that is:

；

wherein,,

for the unique communication port of the participant, +.>

For presetting network port->

A preset number of bits for the addresses of the participants.

The preset number of bits of the protocol address of the participant may be the last bit of the protocol address of the participant, or may be the last multiple bits of the protocol address of the participant when the number of robots in the distributed robot system is large, so as to ensure the uniqueness of the protocol address of the participant.

S430, if the broadcasting message broadcast by the broadcaster is not received in the second preset period and the network access sequence of the participant in the network robot list accords with the preset condition of the relay broadcaster, the participant is the broadcaster.

The second preset period is a time period for the participant to determine whether the broadcaster is abnormal, and the second preset period may be determined according to the broadcast period of the broadcaster, for example, the second preset period may be set to be an integer multiple of the broadcast period of the broadcaster, such as 1 time or 3 times, which is not limited in this embodiment of the present invention.

Specifically, if the participant does not receive the broadcast message broadcast by the broadcaster in the second preset period, the participant may consider that the broadcaster is abnormal, and therefore, it is necessary to select a relay broadcaster from the participants recorded in the network robot list. The preset condition of the participant succession broadcasters may be determined according to the network access sequence of the participants in the network robot list, for example, the first-to-network participant in the network robot list or the last-to-network participant in the latest broadcast message, which is not limited in the embodiment of the present invention. If the participant determines that the network access sequence of the participant in the network robot list meets the preset condition of the succession broadcaster, the participant determines that the succession is the broadcaster and takes responsibility of the broadcaster, and generates a new broadcast message according to the address of the participant and the network robot list so as to broadcast the new broadcast message in a preset broadcast period.

According to the technical scheme, the preset network port is monitored after the robot is started, so that broadcast messages broadcast by other robots accessing the network through the preset network port are obtained; if the broadcast message is received, the broadcasting address is analyzed from the broadcast message as a participant, and the state information of the participant is submitted to the broadcasting address through the unique communication port of the participant so that the broadcaster updates the broadcast message based on the state information; if the participant does not receive the broadcast message broadcast by the broadcaster in more than the second preset period and the network access sequence of the participant in the network robot list accords with the preset condition of the relay broadcaster, the participant is the broadcaster. The invention does not need to rely on a central server, the identities of the distributed robots are divided into broadcasters and participants, the participants receive the state information of other robots through receiving broadcast messages broadcast by the broadcasters, and broadcast the state of the participants to the other robots through the broadcast messages, and a networking structure of self-organized multiple information interactions can be formed based on a flexible interaction mechanism mode, so that the information synchronization method of the distributed robots with low coupling and high flexibility is realized; and when the broadcaster is abnormal, the participants can relay the broadcaster, so that the information synchronization of robots in the distributed robot system is not influenced when the broadcaster is abnormal, and the dependence of the information synchronization on a certain robot is further improved.

Example five

Fig. 5 is a flowchart of a task collaboration method of a distributed robot, where the present embodiment is applicable to a case where a distributed robot accessing a network performs task collaboration after completing synchronization information by using the same method as the first to fourth embodiments, the method may be performed by a task collaboration device of the distributed robot, the task collaboration device of the distributed robot may be implemented in a hardware and/or software manner, and the task collaboration device of the distributed robot may be configured in each distributed robot. As shown in fig. 5, the method includes:

s510, the information synchronization method of the distributed robot and other robots accessing the network are adopted to perform information synchronization.

Specifically, before robots in a distributed robot system execute a cooperative task, the information synchronization method of the distributed robots in any one of the first embodiment to the fourth embodiment of the present invention is first adopted to perform information synchronization on the distributed robots accessing the network, so that each robot can obtain addresses of other robots after the information synchronization, and point-to-point communication between the robots is realized.

And S520, if the cooperative task is received through the target interaction terminal arranged on the self, the cooperative task is sent to the executor based on a preset task cooperative mode, so that the executor executes the cooperative task.

The target interaction terminal is terminal equipment arranged on the robot, and is used for a user to operate on an operation interface to deliver a cooperation task to any distributed robot accessing the network. The collaborative task that the user reaches on the target interaction terminal of any robot can be appointed to be executed by the current robot or can be appointed to be executed by other robots accessing the network. The collaboration task is a task which is completed by a plurality of robots in a collaboration mode, and the collaboration task can comprise information such as content, requirements, the number of required executors and the like of the task and can also comprise information of the executors.

The preset task cooperation mode refers to a preset cooperation mode, and may be, for example, an assignment mode, a random selection mode, a recruitment mode, a competition mode, and the like. The preset collaboration mode can be set on the target interaction terminal and contained in the information of the collaboration task when the collaboration task is issued. The assignment mode refers to a robot which is assigned by a receiving user to execute a collaborative task when the user issues the collaborative task through a target interaction terminal; the random mode is selected randomly from robots accessed to the network according to the fact that a user issues a cooperation task through a target interaction terminal; the recruitment mode is to issue the information of the collaboration tasks issued by the users through the target interaction terminal to each robot, and recruit the robots meeting the conditions to execute the collaboration tasks; the competition mode is to issue the information of the cooperation tasks issued by the users through the target interaction terminal to each robot, and compete and execute the names of the cooperation tasks according to the task execution cost fed back by each robot.

Specifically, after information synchronization, if a robot accessing to a network in the distributed robot system receives a collaboration task issued by a user through a target interaction terminal arranged on the robot system, the collaboration task is sent to an executor according to a preset task collaboration mode, so that the executor can execute the task according to the content or the requirement of the collaboration task after receiving the collaboration task.

Illustratively, since the distributed robots accessing the network have completed the information synchronization and can learn the addresses of other robots. Therefore, in the preset task cooperation mode, the cooperation task can be directly sent to the executor in a point-to-point mode or indirectly sent to the executor through the broadcaster; the cooperative tasks can also be broadcast to all robots through broadcasters, and the executors are determined according to the information of each robot and the cooperative tasks.

According to the technical scheme, the information synchronization method of the distributed robot and other robots accessing the network are adopted to perform information synchronization; and if the cooperative task is received through the target interaction terminal arranged on the self, transmitting the cooperative task to an executor based on a preset task cooperative mode so as to enable the executor to execute the cooperative task. Based on the information synchronization of the distributed robots, the distributed robots can combine the broadcasting networking mode of the broadcasters and the participants in the information synchronization and the point-to-point communication mode to realize task collaboration, reduce the coupling of the task collaboration of the distributed robots and improve the efficiency and the flexibility of the task collaboration.

In an alternative embodiment, the preset task collaboration mode includes:

in an assignment mode, acquiring executor information from the collaborative task;

and determining a robot serving as an executor according to the executor information, and sending the collaboration task to the executor.

Wherein, the executor refers to a robot which needs to execute the cooperation task in the distributed robot system. The actor information may include an address of an actor or a number having a unique identification function such as a robot identification number or name.

Specifically, in an assignment mode, the current robot of the collaborative task issued by the received target interaction terminal acquires information of an assigned executor from the collaborative task; if the executor information contains the information of the executor, the executor is determined to be the executor; if the information of the executor also contains the information of other robots, the address of the executor is acquired according to the broadcasting information received in the information synchronization process of the executor information search, and the collaboration task is sent to the executor, so that the executor executes the collaboration task.

In another optional embodiment, the preset task collaboration mode includes:

in a recruitment mode, marking the collaboration tasks as recruitment states by broadcasters and broadcasting the collaboration tasks so that each participant receives the collaboration tasks;

Determining the executor according to the task execution application sent by each robot, and sending a task execution instruction to the executor so as to enable the executor to execute the collaborative task;

a recruitment completion instruction is sent to the broadcaster to cause the broadcaster to mark the collaboration task as a recruitment completion status and broadcast.

The task execution application is application information of executing a cooperative task of an application submitted by a participant or a broadcaster. The collaborative task representation labeled as a recruitment status may receive a recruitment task execution application; the collaborative task marked as a recruitment completion status indicates that the recruitment task execution application is no longer received. The task execution instructions are adapted to instruct an executor to execute the collaborative task; the recruitment completion instruction is an instruction for transmitting to the broadcaster after completion of recruitment, instructing the broadcaster to mark the collaboration task as a recruitment completion status.

Specifically, in the recruitment mode, the current robot of the collaboration task issued by the received target interaction terminal marks the collaboration task as a recruitment state through a broadcaster and broadcasts the collaboration task, so that each participant receives the collaboration task. When the broadcaster marks the collaboration task as a recruitment state, information of the recruiter, such as the address of the current robot, may be carried in the collaboration task.

After receiving the cooperative task, each robot (including a participant or a broadcaster) generates a task execution application if determining that the robot meets the requirement of the cooperative task, searches an online robot list in a broadcast message received by the robot through recruiter information carried in the cooperative task to obtain an address of the recruiter (such as an address of a current robot), and sends the task execution application to the current robot.

The current robot determines an executor according to a task execution application sent by a broadcaster and/or a participant, and sends a task execution instruction to the executor, so that the robot receiving the task execution instruction is used as the executor to execute the collaborative task. For example, the current robot may determine the executives according to the task execution applications transmitted by the broadcasters and/or the participants by determining broadcasters or participants, which transmit the task execution applications in a time sequence satisfying the number of the executives, as the executives according to the number of the recruited executives.

After determining the executor, the current robot also needs to send a recruitment completion instruction to the broadcaster so that the broadcaster marks the collaboration task as a recruitment completion state, and broadcasts the collaboration task marked as the recruitment completion state through the broadcaster, so that the participant receiving the broadcast message does not submit a task execution application any more, and meanwhile, the current robot does not receive the task execution application any more.

In yet another alternative embodiment, the preset task collaboration mode includes:

in the competition mode, marking the cooperation tasks as competition states by broadcasters and broadcasting the competition states so that each participant submits task execution cost to the broadcasters after receiving the cooperation tasks;

receiving task execution costs submitted by the participants through broadcasters, and updating broadcast messages according to the task execution costs of the robots;

broadcasting the broadcast message through a broadcaster so that each robot can determine whether the robot is an executor according to the task execution cost ranking of the robot and the number of executors required by the cooperative task in the broadcast message.

The task execution cost refers to a cost required by the robot to execute the collaborative task, and the cost may include: the time it takes to perform a task, the time it takes to wait, the distance it takes to run, etc.

Specifically, in the competition mode, the current robot of the collaboration task issued by the received target interaction terminal marks the collaboration task as a recruitment state through a broadcaster and broadcasts the collaboration task, so that each participant receives the collaboration task. After receiving the collaboration task, the participant calculates the task execution cost of executing the collaboration task by itself, searches the online robot list in the broadcast message received by itself to obtain the address of the broadcaster, and submits the task execution cost to the broadcaster. Broadcasters can also act as executors, and thus can also calculate task execution costs of self-collaborative tasks.

After receiving the task execution cost submitted by each participant, the broadcaster updates the broadcast message according to the task execution cost of each participant and the broadcaster; and broadcasting the task execution cost of each robot in the form of a broadcast message.

After the broadcaster generates the broadcast message or each participant receives the broadcast message, the broadcaster can determine own task execution cost ranking from task execution costs in the broadcast message, and determine whether the broadcaster is an executor according to own task execution cost ranking and the number of executors required by the collaborative task. If the task execution cost rank of the self is before the number of the executors, determining the self as the executor; if the task execution cost rank of the self is higher than the number of executives, the self is determined not to be the executives.

Optionally, broadcasting, by the broadcaster, the collaboration task includes:

if the received robot of the collaboration task issued by the target interaction terminal is a broadcaster, broadcasting the collaboration task;

if the received robot of the collaboration task issued by the target interaction terminal is a participant, the collaboration task is sent to a broadcaster so that the broadcaster broadcasts the collaboration task.

Specifically, if the current robot of the collaboration task issued by the received target interaction terminal is a broadcaster, the received collaboration task may be directly broadcasted, so that other robots serving as participants receive the collaboration task. If the current robot of the collaboration task issued by the received target interaction terminal is a participant, the collaboration task is required to be sent to the broadcaster according to the address of the broadcaster contained in the broadcast message in the information synchronization process, so that the broadcaster broadcasts the collaboration task, and other robots serving as participants receive the collaboration task.

Example six

Fig. 6 is a schematic structural diagram of an information synchronization device of a distributed robot according to a sixth embodiment of the present invention. As shown in fig. 6, the apparatus includes:

a monitoring module 610, configured to monitor a preset network port after being started, so as to obtain a broadcast message broadcast by other robots accessing the network through the preset network port;

the broadcasting module 620 is configured to generate a broadcast message as a broadcaster according to information of the broadcaster if the broadcast message is not received, and broadcast the broadcast message through the preset network port, so that other robots in the access network submit their own status information to the broadcaster as participants after receiving the broadcast message;

And an updating module 630, configured to update the broadcast message according to the received status information of the participant, and broadcast the updated broadcast message through the preset network port in a next broadcast period.

Optionally, the broadcasting module includes:

an address writing unit for writing the address of the broadcaster into the network robot list;

and the message generating unit is used for generating a broadcast message according to the online robot list and the state information of the online robot list.

Optionally, the updating module 630:

the information receiving unit is used for receiving the state information submitted by the participants; the participant is a robot which accesses the network and submits state information after receiving the broadcast message;

and the information updating unit is used for updating the online robot list and the corresponding state information in the broadcast message according to the state information of the participant.

Optionally, the method further comprises:

an information deleting unit, configured to serve as a broadcaster, if status information submitted by a target participant is not received in a period exceeding a first preset period, mark the target participant as an abnormal status, and delete information of the target participant from an online robot list in the broadcast message; wherein the target participant is one of the participants.

The information synchronization device of the distributed robot provided by the embodiment of the invention can execute the information synchronization method of the distributed robot provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example seven

Fig. 7 is a schematic structural diagram of an information synchronization device of a distributed robot according to a seventh embodiment of the present invention. As shown in fig. 7, the apparatus includes:

a monitoring module 710, configured to monitor a preset network port after being started, so as to obtain a broadcast message broadcast by other robots accessing the network through the preset network port;

the information sending module 720 is configured to, when receiving a broadcast message, parse a broadcaster address from the broadcast message as a participant, and submit own status information to the broadcaster address, so that the broadcaster updates the broadcast message based on the status information.

Optionally, the method further comprises:

the identity determining module is used for determining the identity as a participant after monitoring a preset network port after starting and before analyzing the address of the broadcaster from the broadcast message as the participant if the broadcast message is not received and the preset network port is broadcasting the broadcast message generated by other robots when the broadcast message is generated and the broadcast message is broadcast through the preset network port.

Optionally, the information sending module 720 includes:

the information submitting unit is used for submitting the state information of the information submitting unit to the broadcaster address through the unique communication port of the information submitting unit; the unique communication port of the participant is determined according to the preset network port and the preset number of digits of the protocol address of the participant.

Optionally, the method further comprises:

and the relay module is used as a participant, and if the broadcast message broadcast by the broadcaster is not received in the period exceeding the second preset period and the network access sequence of the relay module in the network robot list accords with the preset condition of the relay broadcaster, the relay module is the broadcaster.

Example eight

Fig. 8 is a schematic structural diagram of a task collaboration device of a distributed robot according to an eighth embodiment of the present invention. As shown in fig. 8, the apparatus includes:

the information synchronization module 810 is configured to perform information synchronization by using the information synchronization method of the distributed robot and other robots accessing the network provided by the present invention;

And the task execution module 820 is configured to send the collaborative task to an executor based on a preset task collaboration mode if the collaborative task is received through a target interaction terminal provided on the task execution module, so that the executor executes the collaborative task.

Optionally, the preset task collaboration mode includes:

The task cooperation device of the distributed robot provided by the embodiment of the invention can execute the task cooperation method of the distributed robot provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example nine

Fig. 9 shows a schematic structural diagram of a robot 10 that may be used to implement an embodiment of the present invention. Robots are intended to represent various forms of intelligent devices or equipment, such as robots with various functions, such as automated guided vehicles, task robots, and the like. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 9, the robot 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the robot 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

The various components in the robot 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, for example, an information synchronization method of a distributed robot, or a task cooperation method of a distributed robot.

In some embodiments, the information synchronization method of the distributed robot, or the task cooperation method of the distributed robot may be implemented as a computer program, which is tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the robot 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the information synchronization method of the distributed robot or the task cooperation method of the distributed robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the information synchronization method of the distributed robot, or the task collaboration method of the distributed robot, in any other suitable way (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the robot. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. An information synchronization method of a distributed robot, comprising:

monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing to a network through the preset network port; if the broadcast message is not received, the robot is used as a broadcaster to generate the broadcast message according to the information of the broadcaster, and broadcasts the broadcast message through the preset network port, so that other robots in an access network submit the state information of the robot to the broadcaster as participants after receiving the broadcast message;

Updating the broadcast message according to the received state information of the participants, and broadcasting the updated broadcast message through the preset network port in the next broadcasting period;

if the broadcast message is not received, and the preset network port is broadcasting the broadcast message generated by other robots when the broadcast message is generated and broadcast through the preset network port, determining the robot to be a participant.

2. The method of claim 1, wherein the generating a broadcast message as a broadcaster based on information thereof, comprises:

as a broadcaster, writing the address of the broadcaster into a network robot list;

and generating a broadcast message according to the online robot list and the state information of the online robot list.

3. The method of claim 2, wherein the updating the broadcast message based on the received status information of the participant comprises:

receiving status information submitted by a participant; the participant is a robot which accesses the network and submits state information after receiving the broadcast message;

and updating the online robot list and the corresponding state information in the broadcast message according to the state information of the participant.

4. A method according to claim 3, further comprising:

as a broadcaster, if state information submitted by a target participant is not received in a period exceeding a first preset period, marking the target participant as an abnormal state, and deleting the information of the target participant from a network robot list in the broadcast message;

wherein the target participant is one of the participants.

5. An information synchronization method of a distributed robot, comprising:

if the broadcast message is not received, and the preset network port is broadcasting the broadcast message generated by other robots when the broadcast message is generated and broadcast through the preset network port, determining the preset network port to be a participant;

as a participant, resolving a broadcaster address from the broadcast message and submitting its own status information to the broadcaster address so that the broadcaster updates the broadcast message based on the status information.

6. The method of claim 5, wherein said submitting self status information to said broadcaster address comprises:

Submitting the state information of the self to the broadcaster address through the unique communication port of the self; the unique communication port of the participant is determined according to the preset network port and the preset number of digits of the protocol address of the participant.

7. The method as recited in claim 5, further comprising:

and if the participant does not receive the broadcast message broadcast by the broadcaster in more than a second preset period and the network access sequence of the participant in the network robot list accords with the preset condition of the succession broadcaster, the participant is the broadcaster.

8. A task collaboration method for a distributed robot, comprising:

carrying out information synchronization by adopting the information synchronization method of the distributed robot according to any one of claims 1 to 7 and other robots accessing a network;

9. The method of claim 8, wherein the preset task collaboration mode comprises:

10. The method of claim 8, wherein the preset task collaboration mode comprises:

11. The method of claim 8, wherein the preset task collaboration mode comprises:

12. An information synchronization device of a distributed robot, comprising:

the monitoring module is used for monitoring a preset network port after starting to acquire broadcast messages broadcast by other robots accessing the network through the preset network port;

the updating module is used for updating the broadcast message according to the received state information of the participants and broadcasting the updated broadcast message through the preset network port in the next broadcasting period;

the identity determining module is used for determining the identity as a participant if the broadcast message is not received and the preset network port is broadcasting the broadcast message generated by other robots when the broadcast message is generated and the broadcast message is broadcast through the preset network port.

13. An information synchronization device of a distributed robot, comprising:

the identity determining module is used for determining the identity as a participant if the broadcasting message is not received and the broadcasting message generated by other robots is being broadcast by the preset network port when the broadcasting message is generated and the broadcasting message is broadcast through the preset network port;

and the information submitting module is used as a participant to analyze the broadcaster address from the broadcast message and submit the state information of the information submitting module to the broadcaster address so that the broadcaster can update the broadcast message based on the state information.

14. A task orchestration device for a distributed robot, comprising:

an information synchronization module, configured to perform information synchronization by using the information synchronization method of the distributed robot according to any one of claims 1 to 7 and other robots accessing the network;

15. A robot, the robot comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the information synchronization method of the distributed robot of any one of claims 1 to 7 or the task orchestration method of the distributed robot of any one of claims 8 to 11.

16. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the information synchronization method of the distributed robot according to any one of claims 1 to 7 or the task cooperation method of the distributed robot according to any one of claims 8 to 11 when executed.