CN-121989232-A - Collaborative task dynamic allocation method and system for multi-robot decontamination

CN121989232ACN 121989232 ACN121989232 ACN 121989232ACN-121989232-A

Abstract

The invention discloses a cooperative task dynamic allocation method and a system for multi-robot cleaning, which relate to the technical field of robot cooperative cleaning, and the invention obtains each target subarea by dividing the target area, further determines the standby position of each cleaning robot, acquires the cleaning characteristic information of each target subarea, and analyzing to obtain the target trash-cleaning subarea, acquiring trash-cleaning characteristic information and historical trash-cleaning information of each adjacent area of the target trash-cleaning subarea, analyzing to obtain each trash-cleaning robot corresponding to the target trash-cleaning subarea, and planning paths of the trash-cleaning robots of the target trash-cleaning subarea. The invention not only realizes the real-time monitoring and real-time decontamination of the target area and improves the timeliness and the decontamination efficiency of the water area, but also realizes the balance of the timeliness of the single-area decontamination and the overall decontamination, thereby ensuring the optimization of the multi-robot scheduling scheme.

Inventors

YUAN KUAN
Lv Linhuo
GONG HUI
SHI YINAN
CHEN ZHUOFEI

Assignees

成都河宝机器人有限公司
东方水利智能科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260113

Claims (10)

1. The method and the system for dynamically distributing the cooperative tasks for the multi-robot decontamination are characterized by comprising the following steps: Dividing target areas to obtain target subareas, further determining standby positions of the cleaning robots, and acquiring cleaning characteristic information of the target subareas so as to analyze whether the target subareas are cleaned; Step two, acquiring the cleaning characteristic information and the historical cleaning information of each adjacent target subarea of the target cleaning subarea, and further analyzing and obtaining each cleaning robot corresponding to the target cleaning subarea; And thirdly, planning paths of all the trash-cleaning robots in the target trash-cleaning subarea.
2. The method and system for dynamically allocating cooperative tasks for cleaning multiple robots according to claim 1, wherein the dividing the target area obtains each target cleaning subarea, and further determines a standby position of each cleaning robot, and the specific analysis process is as follows: And performing grid division on the target area according to the preset transverse diameter and the preset longitudinal diameter, further obtaining each grid area in the target area, marking each grid area as each target subarea, and taking the intersection point of each grid as the standby position of each trash cleaning robot.
3. The method and system for dynamically distributing cooperative tasks for multi-robot cleaning according to claim 2, wherein the method is characterized in that the cleaning characteristic information of each target subarea is obtained, so as to analyze whether to clean each target subarea, and the specific analysis process is as follows: The method comprises the steps that the disposed sensing devices collect the dirt-removing characteristic information of each target subarea in real time and transmit the dirt-removing characteristic information of each target subarea to a central control monitoring center, wherein the dirt-removing characteristic information comprises water surface apparent information and aquatic organism information, the dirt-removing characteristic information of each target subarea is compared with set dirt-removing trigger information, when the dirt-removing characteristic information of a certain target subarea reaches the set dirt-removing trigger information, the target subarea is recorded as a target dirt-removing subarea, dirt is removed from the target subarea, and otherwise, the target subarea is not cleaned and continuously monitored.
4. The method and system for dynamically distributing cooperative tasks for multi-robot decontamination according to claim 3, wherein the method is characterized in that the decontamination characteristic information and the historical decontamination information of each adjacent target subarea of the target decontamination subarea are obtained, and further the corresponding decontamination robots of the target decontamination subarea are obtained through analysis, and the specific analysis process is as follows: Acquiring each grid intersection point of grids forming the target cleaning subarea, recording each standby cleaning robot at each grid intersection point as each alternative cleaning robot of the target cleaning subarea, simultaneously acquiring the other target subareas outside the target cleaning subarea where each grid intersection point is located, analyzing according to the cleaning characteristic information and the historical cleaning information of the other target subareas to obtain the cleaning waiting time of the other target subareas, simultaneously acquiring each cleaning robot combination corresponding to the target cleaning subarea according to each alternative cleaning robot of the target cleaning subarea, further analyzing to obtain the cleaning time of each cleaning robot combination corresponding to the target cleaning subarea, and comprehensively analyzing according to the cleaning waiting time of the other target subareas and the cleaning time of each cleaning robot combination corresponding to the target cleaning subarea to obtain the target cleaning robot combination corresponding to the target cleaning subarea.
5. The method and system for dynamically distributing cooperative tasks for multi-robot decontamination according to claim 4, wherein the decontamination waiting time of each other target subregion is obtained by analyzing according to the decontamination characteristic information and the historical decontamination information of each other target subregion, and the specific analysis is as follows: Acquiring each historical cleaning interval duration of each other target subarea from the historical cleaning information of each other target subarea, further calculating to obtain an average value of each historical cleaning interval duration of each other target subarea, acquiring a waiting duration from last cleaning time to current time of each other target subarea, recording a difference value between the average value of each historical cleaning interval duration of each other target subarea and the waiting duration from last cleaning time to current time as a class-II reference value of the cleaning waiting duration of each other target subarea, wherein when the difference value between the average value of each historical cleaning interval duration of each other target subarea and the waiting duration from last cleaning time to current time is negative, recording the class-II reference value as 0; and then through a pollution change rate model: Calculating to obtain waiting time required by the cleaning characteristic information of the other target subareas to reach the set cleaning triggering information, and recording the waiting time as one type of reference value of the cleaning waiting time of the other target subareas, wherein T is the waiting time required by the cleaning characteristic information to reach the set cleaning triggering information, In order to clear the trigger information of the dirt, In order to remove the characteristic information of the dirt, The unit time growth rate of the characteristic information of the dirt cleaning is; For each other target subarea with a class of reference value of 0, setting the cleaning waiting time length to 0, and for each other target subarea with a class of reference value of not 0, carrying out weighted summation on one class of reference values and two classes of reference values of the cleaning waiting time length of each other target subarea to obtain the cleaning waiting time length of each other target subarea, wherein the weighted summation formula is as follows: 。
6. The method and system for dynamically allocating cooperative tasks for multi-robot cleaning according to claim 5, wherein the method is characterized in that each cleaning robot combination corresponding to the target cleaning subarea is obtained according to each alternative cleaning robot of the target cleaning subarea, and further the cleaning duration of each cleaning robot combination corresponding to the target cleaning subarea is obtained through analysis, and the specific analysis process is as follows: And acquiring the area of the target sewage disposal subarea and the standard sewage disposal speed of the sewage disposal robots from the central monitoring center, further calculating the time length required by the sewage disposal robots to traverse the target sewage disposal subarea, and recording the time length as the sewage disposal time length of the corresponding target sewage disposal subarea of each sewage disposal robot combination.
7. The method and system for dynamically allocating cooperative tasks for multi-robot cleaning according to claim 6, wherein the comprehensive analysis obtains the target cleaning robot combination corresponding to the target cleaning sub-area according to the cleaning waiting time of the other target sub-areas and the cleaning time of the target cleaning sub-area corresponding to each cleaning robot combination, and the specific analysis process is as follows: Recording any one of the cleaning robot combinations corresponding to the target cleaning subareas as a cleaning robot combination to be analyzed, comparing the cleaning waiting time of each cleaning robot in the cleaning robot combination to be analyzed corresponding to the other target subareas with the cleaning time of each cleaning robot combination to be analyzed corresponding to the target cleaning subareas, and recording the cleaning robot combination to be analyzed as an alternative cleaning robot combination of the target cleaning subareas if the cleaning waiting time of each cleaning robot in the cleaning robot combination to be analyzed corresponding to the other target subareas is greater than the cleaning time of each cleaning robot combination to be analyzed corresponding to the target cleaning subareas, thereby obtaining each alternative cleaning robot combination of the target cleaning subareas; When the number of the alternative cleaning robot combinations of the target cleaning subarea is 0, marking the alternative cleaning robot combination with the largest number of the cleaning robots as the target cleaning robot combination of the target cleaning subarea; when the number of the alternative cleaning robot combinations of the target cleaning subarea is 1, marking the alternative cleaning robot combinations as target cleaning robot combinations of the target subarea; when the number of the candidate cleaning robot combinations of the target cleaning subarea is larger than 1, acquiring the minimum value of the cleaning waiting time of each cleaning robot corresponding to the other target subareas in each candidate cleaning robot combination, marking the minimum value as the characteristic value of each candidate cleaning robot combination, and marking the candidate cleaning robot combination corresponding to the maximum characteristic value as the target cleaning robot combination of the target cleaning subarea.
8. The method and system for dynamically allocating cooperative tasks for multi-robot cleaning according to claim 7, wherein the path planning is performed on each cleaning robot in the target cleaning sub-area, and the specific process is as follows: Acquiring the number of the cleaning robots in the target cleaning robot combination, and cleaning the target subarea based on a cooperative cleaning mode when the number of the cleaning robots in the target cleaning robot combination is 1, wherein the method is specifically represented by constructing a rectangular coordinate system by taking the standby position of the cleaning robot as an origin, further determining the boundary coordinates of the target subarea, screening to obtain the shortest traversal path based on a genetic algorithm, and cleaning the target subarea by taking the water flow direction as the path direction; When the target cleaning robots are combined into the alternative cleaning robots with the largest number, the number of the alternative cleaning robots in the target cleaning subarea is obtained, if the number of the alternative cleaning robots in the target cleaning subarea is 0, the target subarea is cleaned based on a partition cleaning mode, the method is specifically represented as that the target cleaning subarea is evenly divided according to the number of the cleaning robots, a teaching coordinate system is established by taking the standby position of each cleaning robot as an origin, the boundary coordinates of the cleaning area of each cleaning robot are further determined, the shortest traversal path corresponding to each cleaning robot is obtained based on a genetic algorithm, and the target subarea is cleaned based on a water flow direction as a path direction; When the number of the cleaning robots in the target cleaning robot combination is not 1 and the target cleaning robot combination is not the candidate cleaning robot combination with the largest number of the cleaning robots, analyzing to obtain the cleaning modes of the cleaning robots in the target cleaning robot combination, and performing path traversal on the target cleaning subarea based on the cleaning modes.
9. The method and system for dynamically allocating cooperative tasks for multi-robot cleaning according to claim 8, wherein the analysis obtains a cleaning mode of each cleaning robot in the target cleaning robot combination, and the specific analysis process is as follows: and comparing the residual electric quantity of each cleaning robot in the target cleaning robot combination with a set electric quantity threshold, if the residual electric quantity of each cleaning robot in the target cleaning robot combination is greater than or equal to the set electric quantity threshold, adopting a cooperative cleaning mode to clean the target cleaning subarea, otherwise adopting a partition cleaning mode to clean the target subarea.
10. A system for performing with the multi-robot-based decontamination collaborative task dynamic allocation method defined in any one of claims 1-9, comprising: The system comprises a cleaning area dividing module, a cleaning area judging module and a cleaning module, wherein the cleaning area dividing module is used for dividing target areas to obtain target subareas, further determining standby positions of cleaning robots, acquiring cleaning characteristic information of the target subareas, and analyzing whether to clean the target subareas; And the cleaning robot analysis module: used for acquiring the cleaning characteristic information and the historical cleaning information of each adjacent target subarea of the target cleaning subarea, further analyzing and obtaining all the trash-cleaning robots corresponding to the target trash-cleaning subareas; And the trash cleaning path planning module is used for planning the path of each trash cleaning robot in the target trash cleaning subarea.

Description

Collaborative task dynamic allocation method and system for multi-robot decontamination Technical Field The invention relates to the technical field of robot collaborative cleaning, in particular to a collaborative task dynamic allocation method and a collaborative task dynamic allocation system for multi-robot cleaning. Background With the increasing population and the increasing level of consumption per capita, household garbage and algae become main sources of sewage in rivers and lakes, the water quality is polluted by the increasing sewage, and water plants in partial water areas are root plants, so that mowing and collecting are needed when the water plants grow to a certain height, and the ecological environment of the water body is met. If salvage or shearing is carried out by adopting a traditional manual mode, not only is the salvage efficiency low, but also salvage personnel have a certain risk. Along with the increasingly strict pollution control of rivers and lakes, the floating dirt in the river channel can not be easily discharged downstream, so that the cleaning of the floating dirt is safely, efficiently and intelligently carried out, and is a long-term requirement. The prior art has the defects when the robot is used for salvaging the dirt on the water surface, and particularly has the following aspects that (1) when the robot is used for cleaning the dirt on the water surface in the prior art, the cleaning path of the robot is mostly obtained through a path planning algorithm, the water surface is cleaned based on the cleaning path, the standby position of the robot is not analyzed and optimized, and useless electricity consumption and abrasion caused by the reciprocating path of the robot are not considered. (2) In the prior art, when a plurality of robots perform collaborative operation, the allocation of the collaborative operation content is mostly analyzed, when the plurality of robots perform collaborative operation on a certain place of a water area, the sewage disposal waiting time of the rest of the water area is overlong due to the problems of operation duration, round trip path and the like, and when the plurality of robots perform traversal operation on the water area, the waste of energy is possibly caused due to invalid sewage disposal. Disclosure of Invention Aiming at the technical defects, the invention aims to provide a cooperative task dynamic allocation method and a system for multi-robot decontamination. In order to solve the technical problems, the invention adopts the following technical scheme that the invention provides a collaborative task dynamic allocation method for multi-robot cleaning in the first aspect, which comprises the steps of firstly dividing target areas to obtain target subareas, further determining standby positions of all the cleaning robots, and acquiring cleaning characteristic information of all the target subareas so as to analyze whether to clean all the target subareas. Step two, acquiring the cleaning characteristic information and the historical cleaning information of each adjacent target subarea of the target cleaning subarea, and further analyzing and obtaining each cleaning robot corresponding to the target cleaning subarea. And thirdly, planning paths of all the trash-cleaning robots in the target trash-cleaning subarea. The invention provides a collaborative task dynamic distribution system for multi-robot cleaning in a second aspect, which comprises a cleaning region dividing module, a cleaning region determining module and a processing module, wherein the cleaning region dividing module is used for dividing a target region to obtain each target sub-region, further determining the standby position of each cleaning robot, and acquiring the cleaning characteristic information of each target sub-region so as to analyze whether to clean each target sub-region. And the cleaning robot analysis module: the method is used for acquiring the cleaning characteristic information and the historical cleaning information of each adjacent target subarea of the target cleaning subarea, and further analyzing and obtaining each cleaning robot corresponding to the target cleaning subarea. And the trash cleaning path planning module is used for planning the path of each trash cleaning robot in the target trash cleaning subarea. The invention has the beneficial effects that (1) the standby position of each cleaning robot and each responsible cleaning area are defined by dividing the target area, the problems of fuzzy boundary of the cleaning area and unordered standby of the robot in the prior art are solved, the problems of energy consumption and repeated operation caused by frequent reciprocating of the cleaning robot are avoided, the real-time monitoring and real-time cleaning of the target area can be realized, and the timeliness and the cleaning efficiency of the cleaning of the water area are greatly improved. (2) According to the invention, the c