Robot scheduling processing method, device, equipment and storage medium

Abstract

The embodiment of the present invention provides a processing method, device, equipment and storage medium for robot scheduling, the method comprising: obtaining the attribute information, starting position information and destination position information of the target object to be transported; determining the first number of robots required according to the attribute information of the target object; determining the first number of robots as target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot; and controlling each of the target robots to transport the target object from the starting position to the destination position. It is realized that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by regrouping, thereby improving the flexibility of transportation and the utilization rate of robots, and no longer needing to be re-customized according to the size of the goods, thus saving R&D costs.

Description

Technical Field

[0001] The present invention relates to the field of warehousing logistics technology, and in particular to a processing method, device, equipment and storage medium for robot scheduling. Background Art

[0002] With the rapid development of automation technology, automated warehousing technology has also made great progress. Robots used for handling are widely used in warehouse cargo handling, greatly saving human resources.

[0003] At present, in traditional container handling, due to the differences in containers, robots need to be customized according to the actual site and container size, such as AGV (Automated Guided Vehicle).

[0004] However, to meet the customized needs of robots, more human resources are needed for a series of links such as research and development, testing, mass production, assembly, and debugging. Due to the high cost of resources and a long time required, the efficiency of warehousing and freight is low, and it is difficult to meet the current growing demand for robot handling. Summary of the invention

[0005] The embodiments of the present invention provide a processing method, device, equipment and storage medium for robot scheduling to solve the defects of low efficiency of warehousing and freight transportation in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides a method for processing robot scheduling, comprising:

[0007] Obtaining the attribute information, starting position information and destination position information of the target object to be transported;

[0008] Determining a first number of robots required according to the attribute information of the target object;

[0009] Determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot;

[0010] Each of the target robots is controlled to carry the target object from a starting position to a destination position.

[0011] Optionally, the attribute information of the target object includes the size and weight of the target object;

[0012] The step of determining the first number of robots required according to the attribute information of the target object comprises:

[0013] Get the size and weight of the robot;

[0014] The first number of robots required is determined according to the size and weight of the target object and the size and load of the robots.

[0015] Optionally, the current status information includes current location information and current participating task information;

[0016] The step of determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot includes:

[0017] Determine a first robot that is not currently participating in a task according to the currently participating task information of each robot;

[0018] Determining a first distance between each of the first robots and the target object according to the current position information of each of the first robots and the starting position information of the target object;

[0019] According to the first distance between each of the first robots and the target object, a first number of first robots closest to the target object are selected as the target robots.

[0020] Optionally, the current state information also includes current power information;

[0021] After determining the first robot that is not currently participating in the task according to the current participating task information of each robot, the method further includes:

[0022] Determining the remaining travel distance of each of the first robots according to the current power information of each of the first robots;

[0023] Determine a second distance between the starting position and the destination position according to the starting position information and the destination position information;

[0024] The step of selecting a first number of first robots closest to the target object as the target robots according to the first distances between the first robots and the target object comprises:

[0025] According to the first distance between each of the first robots and the target object and the second distance, determining a first number of first robots whose remaining travel distances meet the current handling condition from each of the first robots as the target robots;

[0026] The current transport condition is that the remaining travel distance of the first robot is greater than the sum of the first distance corresponding to the first robot and the second distance.

[0027] Optionally, controlling each of the target robots to transport the target object from a starting position to a destination position includes:

[0028] Controlling each of the target robots to move from its current position to below the target object;

[0029] When each target robot reaches below the target object, each target robot is controlled to synchronously lift the target object, and after each target robot is controlled to travel to the destination position, each target robot is controlled to synchronously put down the target object.

[0030] Optionally, controlling each of the target robots to travel from its current position to below the target object includes:

[0031] For each target robot, according to the current position of the target robot and the starting position of the target object, based on a preset site map, a first driving route is planned and sent to the target robot, so that the target robot drives from its current position to under the target object according to the first driving route.

[0032] Optionally, controlling each of the target robots to travel to the destination position includes:

[0033] For each target robot, according to its specific position coordinates under the target object and the destination position, based on a preset site map, a second driving route is planned and sent to the target robot, so that the target robot drives to the destination position according to the second driving route.

[0034] Optionally, the method further comprises:

[0035] Determining a target grouping mode of a target robot according to the attribute information of the target object and the first quantity;

[0036] The controlling each of the target robots to transport the target object from a starting position to a destination position includes:

[0037] According to the target grouping mode, each of the target robots is controlled to transport the target object from a starting position to a destination position.

[0038] Optionally, there are multiple target objects;

[0039] The step of determining the first number of robots required according to the attribute information of the target object comprises:

[0040] Determining a first number of robots required for each target object according to the attribute information of each target object;

[0041] The step of determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot includes:

[0042] For each target object, determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot;

[0043] The controlling each of the target robots to transport the target object from a starting position to a destination position includes:

[0044] For each target object, each target robot corresponding to the target object is controlled to transport the target object from a starting position to a destination position.

[0045] One embodiment of the above invention has the following beneficial effects: it realizes that different numbers of robots can be dispatched to carry out transportation for different objects. When user needs change, user needs can be met by regrouping, thereby improving the flexibility of transportation and the utilization rate of robots. There is no need to re-customize according to the size of the goods, saving R&D costs.

[0046] Another embodiment of the above invention has the following beneficial effects: by selecting a robot that is closer to the target object as the target robot, each target robot can reach the starting position of the target object as quickly as possible, further improving the efficiency of robot scheduling.

[0047] Another embodiment of the above invention has the following beneficial effects: by considering the remaining power of the robot to select a suitable robot as the target robot, it is ensured that each robot can complete the handling task and avoid the situation where the robot goes on strike during the handling process due to insufficient power.

[0048] In a second aspect, an embodiment of the present invention provides a robot scheduling processing method, including:

[0049] Sending current state information to a control end so that the control end determines a target robot for carrying the target object according to the current state information of each robot and the starting position information of the target object;

[0050] After being determined as a target robot, it receives the control information sent by the control end and performs a corresponding handling task according to the control information.

[0051] Optionally, receiving control information sent by the control terminal and performing a corresponding transport task according to the control information includes:

[0052] Receiving first control information sent by the control end, the first control information including a first driving route planned by the control end based on a preset site map, the first driving route being a driving route of the target robot from a current position to a starting position of the target object;

[0053] Driving to below the target object according to the first driving route;

[0054] After each target robot moves to the bottom of the target object, it lifts the target object synchronously with other target robots;

[0055] receiving a second driving route sent by the control end, where the second driving route is a driving route from below a starting position of the target object to a destination position;

[0056] The target object is transported to the destination location together with other target robots according to the second driving route.

[0057] Optionally, the method further comprises:

[0058] During driving, the third distance between the robot and other target robots is detected in real time. If the third distance is not within a preset range, the driving speed or position is adjusted so that the distance between the robot and other target robots is controlled within the preset range.

[0059] One embodiment of the above invention has the following beneficial effects: by adjusting the speed or position through distance detection between robots, the mutual distance is ensured to be within a preset range, the accuracy of the position is ensured, and the synchronization between robots in the group is further improved.

[0060] In a third aspect, an embodiment of the present invention provides a processing device for robot scheduling, including:

[0061] An acquisition module is used to acquire the attribute information, the starting position information and the destination position information of the target object to be transported;

[0062] A determination module, configured to determine a first number of robots required according to attribute information of the target object;

[0063] a processing module, configured to determine a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot;

[0064] The control module is used to control each of the target robots to transport the target object from a starting position to a destination position.

[0065] Optionally, the attribute information of the target object includes the size and weight of the target object;

[0066] Accordingly, the determining module is specifically used for:

[0067] Get the size and weight of the robot;

[0068] The first number of robots required is determined according to the size and weight of the target object and the size and load of the robots.

[0069] Optionally, the current status information includes current location information and current participating task information;

[0070] Accordingly, the processing module is specifically used for:

[0071] Determine a first robot that is not currently participating in a task according to the currently participating task information of each robot;

[0072] Determining a first distance between each of the first robots and the target object according to the current position information of each of the first robots and the starting position information of the target object;

[0073] According to the first distance between each of the first robots and the target object, a first number of first robots closest to the target object are selected as the target robots.

[0074] Optionally, the current state information also includes current power information;

[0075] Accordingly, the processing module is also used for:

[0076] Determining the remaining travel distance of each of the first robots according to the current power information of each of the first robots;

[0077] Determine a second distance between the starting position and the destination position according to the starting position information and the destination position information;

[0078] The processing module is specifically used for:

[0079] According to the first distance between each of the first robots and the target object and the second distance, determining a first number of first robots whose remaining travel distances meet the current handling condition from each of the first robots as the target robots;

[0080] The current transport condition is that the remaining travel distance of the first robot is greater than the sum of the first distance corresponding to the first robot and the second distance.

[0081] Optionally, the control module is specifically used to:

[0082] Controlling each of the target robots to move from its current position to below the target object;

[0083] When each target robot reaches below the target object, each target robot is controlled to synchronously lift the target object, and after each target robot is controlled to travel to the destination position, each target robot is controlled to synchronously put down the target object.

[0084] Optionally, the control module is specifically used to:

[0085] For each target robot, according to the current position of the target robot and the starting position of the target object, based on a preset site map, a first driving route is planned and sent to the target robot, so that the target robot drives from its current position to under the target object according to the first driving route.

[0086] Optionally, the control module is specifically used to:

[0087] For each target robot, according to its specific position coordinates under the target object and the destination position, based on a preset site map, a second driving route is planned and sent to the target robot, so that the target robot drives to the destination position according to the second driving route.

[0088] Optionally, the determination module is further used to determine a target grouping mode of the target robot according to the attribute information of the target object and the first quantity;

[0089] The control module is specifically used to control each of the target robots to transport the target object from a starting position to a destination position according to the target grouping mode.

[0090] Optionally, there are multiple target objects;

[0091] The determination module is specifically used to: determine the first number of robots required for each target object according to the attribute information of each target object;

[0092] The processing module is specifically configured to: for each target object, determine a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot;

[0093] The control module is specifically used to, for each target object, control each target robot corresponding to the target object to transport the target object from a starting position to a destination position.

[0094] In a fourth aspect, an embodiment of the present invention provides a processing device for robot scheduling, including:

[0095] A sending module, used for sending current state information to the control end, so that the control end determines a target robot for carrying the target object according to the current state information of each robot and the starting position information of the target object;

[0096] A receiving module, used for receiving control information sent by the control terminal after being determined as a target robot;

[0097] An execution module is used to execute corresponding handling tasks according to the control information.

[0098] Optionally, the receiving module is specifically used to receive first control information sent by the control end, the first control information includes a first driving route planned by the control end based on a preset site map, and the first driving route is a driving route of the target robot from a current position to a starting position of the target object;

[0099] The execution module is specifically configured to drive to the bottom of the target object according to the first driving route;

[0100] The execution module is specifically used to, after each target robot has moved under the target object, lift the target object synchronously with other target robots;

[0101] The receiving module is further used to receive a second driving route sent by the control end, where the second driving route is a driving route from below the starting position of the target object to the destination position;

[0102] The execution module is further configured to transport the target object to the destination location together with other target robots according to the second driving route.

[0103] Optionally, the execution module is also used to detect a third distance between the robot and other target robots in real time during driving. If the third distance is not within a preset range, the driving speed or position is adjusted so that the distance between the robot and other target robots is controlled within the preset range.

[0104] In a fifth aspect, an embodiment of the present invention provides an electronic device, including: at least one processor and a memory;

[0105] The memory stores computer-executable instructions;

[0106] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method described in the first aspect and various possible designs of the first aspect.

[0107] In a sixth aspect, an embodiment of the present invention provides a terminal, including: at least one processor and a memory;

[0108] The memory stores computer-executable instructions;

[0109] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method described in the second aspect and various possible designs of the second aspect.

[0110] In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions. When a processor executes the computer execution instructions, the method described in the first aspect and various possible designs of the first aspect are implemented.

[0111] In an eighth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions. When a processor executes the computer execution instructions, the method described in the second aspect and various possible designs of the second aspect are implemented.

[0112] The robot scheduling processing method, device, equipment and storage medium provided in the embodiments of the present invention determine the first number of robots required according to the attribute information of the target object, determine the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, control the target robots to form a group and cooperate to transport the target object from the starting position to the destination position, thereby realizing that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, thereby improving the flexibility of transportation and the utilization rate of robots, and no longer needing to be re-customized according to the size of the goods, thereby saving R&D costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0114] Figure 1 A schematic diagram of the architecture of a processing system based on an embodiment of the present invention;

[0115] Figure 2 A schematic diagram of a process flow of a robot scheduling processing method provided by an embodiment of the present invention;

[0116] Figure 3 A schematic flow chart of a robot scheduling processing method provided by another embodiment of the present invention;

[0117] Figure 4 A schematic diagram of a marshaling mode provided by an embodiment of the present invention;

[0118] Figure 5 A schematic diagram of another grouping mode provided by an embodiment of the present invention;

[0119] Figure 6 A schematic diagram of another marshaling mode provided by an embodiment of the present invention;

[0120] Figure 7 A schematic diagram of another marshaling mode provided by an embodiment of the present invention;

[0121] Figure 8 A schematic diagram of another marshaling mode provided by an embodiment of the present invention;

[0122] Fig. 9 A schematic flow chart of a robot scheduling processing method provided by yet another embodiment of the present invention;

[0123] Fig.10 A schematic diagram of the structure of a processing device for robot scheduling provided by an embodiment of the present invention;

[0124] Fig.11 A schematic diagram of the structure of a processing device for robot scheduling provided by another embodiment of the present invention;

[0125] Fig.12 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0126] Fig.13 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention.

[0127] The above drawings have shown clear embodiments of the present invention, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the disclosed concept in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0128] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0129] First, the terms involved in the present invention are explained:

[0130] AGV: Automated Guided Vehicle, automatic navigation device. According to the structure, it includes lurking AGV, backpack AGV, omnidirectional AGV, two-wheel differential AGV, etc. In the embodiment of the present invention, the robot uses the existing omnidirectional AGV to form a group to carry goods of different sizes. The omnidirectional AGV used in the embodiment of the present invention has omnidirectional walking function, lifting function, and necessary general functions such as navigation system, power supply system, communication function, control function, etc. Among them, the walking mechanism of AGV can adopt a Mecanum wheel structure.

[0131] With the rapid development of automation technology, automated warehousing technology has also made great progress. Robots used for handling are widely used in warehouse cargo handling, which greatly saves human resources. At present, in traditional cargo handling, due to the differences in cargo, robots need to be customized according to the actual site and cargo size, such as AGV (Automated Guided Vehicle). However, to meet the customized needs of robots, it is necessary to occupy more human resources for a series of links such as research and development, testing, mass production, assembly, and debugging. Due to the high cost of resources and the long time required, the efficiency of warehouse freight is low, and it is difficult to meet the current increasing demand for robot handling.

[0132] In view of the above-mentioned problems existing in the prior art, the inventors have conducted creative research and found that in actual applications, the AGVs of the prior art can only be universalized when the scene types are the same, while the AGVs need to be modified to meet the needs in other scenes. In order to solve the above-mentioned problems, the inventors have creatively found that if the AGV is modularly designed and the scene adaptability of the AGV is improved, it can not only solve the dilemma of customizing AGVs, but also solve the customization problems faced by users in use. Therefore, an embodiment of the present invention provides a robot scheduling processing method. For different goods, different numbers of robots can be scheduled to collaborate and carry them together. When user needs change, they can be re-grouped to improve the flexibility of transportation and the utilization rate of the robots. There is no need to re-customize according to the size of the goods, thus saving R&D costs.

[0133] The robot scheduling processing method provided by the embodiment of the present invention is applicable to cargo handling scenarios. Figure 1As shown, it is a schematic diagram of the architecture of the processing system based on the embodiment of the present invention. The processing system may include a control terminal, a user terminal and a robot. Among them, the control terminal may be an electronic device such as a server or a computer, the user terminal is a terminal connected to the control terminal for user input or setting requirements, and the robot may include one type or multiple types of robots, and each type may include multiple robots. For example, a plurality of modular robots may be included. Multiple robots can be controlled to form a whole to carry larger goods. Smaller goods can also be carried by one robot, and the specific scheduling is based on actual needs. The robots can also communicate separately with each other through Bluetooth and other methods. When the user needs to dispatch the robot to carry goods, each of the goods is called a target object. The user can input or set the user demand data through the user terminal. The user demand data at least includes the attribute information, the starting position information and the destination position information of the target object to be carried. The user terminal sends the user demand data to the control terminal. The control terminal determines the number of robots required according to the attribute information of the target object. In order to distinguish the first number, the attribute information of the target object may include the size, load and other information of the target object. The control terminal also stores the current state information of each robot. The current state information may include the current position, the current power, the current working state, etc. The current state information may also be obtained and stored by the control terminal in real time communication with each robot. The control terminal selects the first number of robots from each robot as the target robot for carrying the target object according to the starting position information of the target object and the current state information of each robot. The first number of target robots can be called a group. According to the specific attributes of the target object, the first number can be 1, 2, 3 or even more. After determining the robot grouping of the target object, each target robot in the grouping can be controlled to carry the target object from the starting position to the destination position. Specifically, the corresponding driving routes can be planned for each target robot based on the site map of the target object, so that each target robot can navigate to the corresponding location according to the planned driving route. Through robot grouping, different numbers of robots can be dispatched to cooperate and carry different goods together. When user needs change, they can be re-grouped to improve the flexibility of handling and the utilization rate of robots. There is no need to re-customize according to the size of the goods, saving R&D costs.

[0134] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following embodiments, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0135] The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0136] An embodiment of the present invention provides a robot scheduling processing method for cargo handling. The execution subject of this embodiment is a robot scheduling processing device, which can be set in an electronic device, and the electronic device can be a server, a desktop computer, a laptop computer, etc.

[0137] like Figure 2 FIG. 1 is a flow chart of a method for processing robot scheduling provided in this embodiment, and the method includes:

[0138] Step 101, obtaining the attribute information, the starting position information and the destination position information of the target object to be transported.

[0139] The attribute information, the starting position information and the destination position information of the target object may be input by the user in real time, or may be obtained and stored in advance.

[0140] When the user needs to move the target object, the task can be triggered to start, and the control end can obtain the attribute information, starting position information and destination position information of the target object as the basis for scheduling the robot.

[0141] It should be noted that there can be one or more target objects. When there are multiple target objects, corresponding processing is performed on each target object. The corresponding robot group can be dispatched for each target object for transportation at the same time, or the corresponding robot group can be dispatched for each target object for transportation in sequence. The specific setting can be based on actual needs and is not limited in this embodiment.

[0142] Step 102: Determine a first number of robots required according to attribute information of the target object.

[0143] After obtaining the attribute information, starting position information and destination position information of the target object, the number of robots required (for distinction, referred to as the first number) can be determined according to the attribute information of the target object. The attribute information of the target object may include relevant information such as the size and weight of the target object. The starting position information may include the coordinate area occupied by the target object. For example, if the target object is a cuboid, it will occupy a rectangular area, and the starting position information may include a set of coordinates covered by the rectangle occupied by the target object. Similarly, the destination position information may also include a coordinate area of ​​the same size as the starting position information, so that the specific position of each target robot can be determined when the robot is grouped and carried.

[0144] For example, the first number of robots required can be determined according to the size of the target object and the size of each robot. For example, if the target object is 80cm long*40cm wide, and the robot cross section is circular with a diameter of 30, two robots are needed to carry the target object.

[0145] For example, the first number of robots required may be determined according to the weight of the target object and the load capacity of each robot. For example, if the target object weighs 80 kg and each robot can carry 30 kg, then three robots are required to carry the target object.

[0146] For example, the first number of robots required can be determined by combining the size and weight of the target object. For example, if the target object is 80cm long*40cm wide, the cross section of the robot is circular with a diameter of 30, the target object weighs 80kg, and each robot can carry 30kg. Although two robots are sufficient based on the size, three robots are required based on the load, and three robots are required based on comprehensive consideration.

[0147] The specific rules for determining the number of robots based on the attribute information of the target object can be set according to actual conditions, and this embodiment does not limit this.

[0148] Step 103: Determine a first number of robots as target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot.

[0149] After determining the number of robots required, the corresponding number of robots can be selected as target robots for grouping and transporting. The selection of target robots needs to consider the current status of each robot and the distance between each robot and the starting position of the target object. The current status information of each robot can be pre-stored in the control end, or the control end can communicate with each robot in real time and reported by each robot. The specific setting can be based on actual needs. The current status information of the robot may include the current position of the robot, the current power, the current working status, etc. Based on the starting position information of the target object and the current status information of each robot, a first number of robots are selected as target robots for transporting the target object.

[0150] For example, the first number is determined to be 3, and there are currently 10 robots. Since there may be multiple scheduling tasks at the same time, that is, there are multiple target objects to be transported, the current working state of the robot needs to be considered when scheduling a target object. If a robot is currently involved in other tasks, it cannot be used as the target robot for the current target object. It is necessary to select from robots whose current working state is idle.

[0151] Optionally, a first number of idle robots may be randomly selected as target robots.

[0152] Optionally, the first number of robots that are closer may be selected as target robots in combination with the distance between each robot and the starting position of the target object.

[0153] Optionally, since robots consume electricity, the target robot can also be selected based on the current power of each robot. Specifically, the current power of the robot can be converted into the distance it can carry, and compared with the actual distance required to carry the target object this time, and the robot that can meet the travel distance this time is selected as the target robot.

[0154] Optionally, multiple current states of each robot may be comprehensively considered, which may be specifically set according to actual needs and is not limited in this embodiment.

[0155] Step 104 , controlling each target robot to move the target object from the starting position to the destination position.

[0156] After determining the target robot for transporting the target object, the control end can send corresponding control instructions to each target robot to control each target robot to transport the target object from the starting position to the destination position.

[0157] Specifically, the control end can determine the grouping mode of each target robot according to the attribute information of the target object, determine the specific area under the starting position of the target object that each target robot needs to reach according to the starting position information of the target object and the current position and size of each target robot, and plan a driving route for the target robot according to the specific area and the current position of the target robot, and send it to the target robot, so that the target robot can navigate and drive to the corresponding area under the target object according to the driving route, and finally when each target robot reaches its respective corresponding area, it can accurately lift the target object. Planning the driving route for the target robot can be planned based on the site map of the site where the target object is located. Each robot is also provided with the site map, and can navigate and drive according to the site map and the driving route.

[0158] The control end stores the identification information of each robot and can communicate with each robot in real time. After determining the target robot, the control end can send corresponding notification information to each target robot. The notification information may include group identification, relevant information of group members, etc., to inform each target robot which robots form a group with which to perform tasks. This allows each target robot to communicate with each other during driving. For example, they can detect the distance between each other to ensure a smooth driving process. For example, after reaching the starting position, they can confirm each other and lift the target object synchronously, etc. The specific settings can be based on actual needs. After planning the driving routes for each target robot, the control end sends each driving route to the corresponding target robot. Since the current positions of each robot may be different, the driving routes from the current position to the specific position under the target object may be different, and since the robot itself has a certain size, when carrying the target object, the position relative to the target object is also different, so its specific transportation driving route may also be slightly different. For example, two target robots may be grouped together, one in front and one behind, or one on the left and one on the right. When they are traveling one in front and one behind, their driving routes may be the same, but when they are traveling one on the left and one on the right, the coordinate trajectories covered by their driving routes are different.

[0159] Optionally, when each target robot drives to the specific location under the target object according to the driving route sent by the control end, it can send arrival information to the control end. After receiving the arrival information of each target robot, the control end can synchronously send transport instructions to each target robot, so that each target robot can lift and carry the target object synchronously, and drive according to the planned driving route to transport it to the destination.

[0160] Optionally, after each target robot drives to a specific location under the target object according to the driving route sent by the control end, each target robot may confirm with each other that they have arrived, negotiate to lift the target object synchronously, and drive along the planned driving route to transport it to the destination. In this case, the control end may send the driving route of the transport process to each target robot in advance. The specific setting can be based on actual needs, and this embodiment does not limit it. Internal communication between robots can be carried out through Bluetooth or other methods.

[0161] Optionally, a target robot can be selected from each target robot as the master robot to ensure synchronization within the group. For example, the No. 1 robot in the group can be the master robot by default, or a random robot can be selected as the master robot. The master robot communicates with the control end, receives instructions from the control end, and interprets them as control commands to send to other target robots. After receiving the control commands, each target robot interprets them as different speed algorithms of the three-axis motors and executes actions, thereby ensuring overall synchronization.

[0162] It should be noted that the robot of the embodiment of the present invention is a modularly designed robot with strong scene adaptability and needs to have omnidirectional driving ability. The walking mechanism can adopt a Mecanum wheel structure, which can specifically include Mecanum wheels, motors, reducers, etc. It is also necessary to have some common functions of omnidirectional robots, such as power supply system, navigation system, lifting function, communication function, etc. The robot body supports vehicle body scheduling when different layouts are used to ensure that the robot will not be separated or have internal inconsistency during transportation. Its cross-sectional shape can be set according to the grouping requirements, or an existing omnidirectional AGV that can meet the conditions can be used. When grouping, it can be selected from different types of robots for grouping. The control end pre-stores relevant information of different types of robots, such as type identification, robot identification, size, load, shape, grouping mode that can be participated in, etc., and can obtain the current real-time status information of each robot in real time as a reference for selecting a robot. The grouping mode refers to what kind of formation is composed of several robots. For example, one grouping mode is two robots forming a front-and-rear formation, another grouping mode is three robots forming a triangle formation, another grouping mode is three robots forming a straight line formation, etc. Specific grouping modes can be preset and stored.

[0163] The robot scheduling processing method provided in the present embodiment determines the first number of robots required according to the attribute information of the target object, determines the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, controls the target robots to form a group and cooperate to transport the target object from the starting position to the destination position, thereby realizing that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, thereby improving the flexibility of transportation and the utilization rate of robots, and no longer needing to be re-customized according to the size of the goods, thereby saving R&D costs.

[0164] Another embodiment of the present invention further supplements the method provided by the above embodiment.

[0165] like Figure 3 As shown, it is a flowchart of the processing method for robot scheduling provided in this embodiment.

[0166] As an implementable manner, based on the above embodiment, optionally, the attribute information of the target object includes the size and weight of the target object; and determining the first number of robots required according to the attribute information of the target object specifically includes:

[0167] Step 2011, obtain the size and load of the robot.

[0168] Step 2012, determining the first number of robots required according to the size and weight of the target object, and the size and load of the robots.

[0169] Specifically, the first number of robots required can be determined by combining the size and weight of the target object. For example, if the target object is 80cm long*40cm wide, the robot cross section is circular with a diameter of 30, the target object weighs 80kg, and each robot can carry 30kg. Although two robots are sufficient based on the size, three robots are required based on the load. Therefore, three robots are required based on comprehensive considerations.

[0170] As another practicable manner, based on the above embodiment, optionally, the current state information includes current position information and current participating task information, and according to the starting position information of the target object and the current state information of each robot, determining a first number of robots as target robots for transporting the target object specifically includes:

[0171] Step 2021, determining the first robot that is not currently participating in the task based on the current participating task information of each robot.

[0172] Step 2022: Determine a first distance between each first robot and the target object according to the current position information of each first robot and the initial position information of the target object.

[0173] Step 2023: Select a first number of first robots closest to the target object as target robots according to the first distances between each first robot and the target object.

[0174] Specifically, the current participating task information is the current working status information, which may include whether the robot is currently participating in a task, and if so, which task it is participating in. Since there may be multiple scheduling tasks at the same time, that is, multiple target objects to be transported, the current working status of the robot needs to be considered when scheduling a target object. If a robot is currently participating in other tasks, it cannot be used as the target robot for the current target object. It is necessary to select from robots whose current working status is idle.

[0175] After determining the first robots that are not currently involved in the task, the first distance between each first robot and the target object can be determined based on the current position information of these first robots and the starting position information of the target object. Based on the first distance between each first robot and the target object, the nearest first number of first robots are selected as target robots, so that each target robot can reach the starting position of the target object as soon as possible, thereby further improving the efficiency of robot scheduling.

[0176] Optionally, when there are multiple scheduling tasks at the same time, the determination of the target robot for each task can be based on the distance between each robot and each target object to optimize the overall efficiency.

[0177] Optionally, the current state information also includes current power information; after determining the first robot that is not currently participating in the task according to the current participating task information of each robot, the method further includes:

[0178] Step 2031: Determine the remaining driving distance of each first robot according to the current power information of each first robot.

[0179] Step 2032: Determine a second distance between the starting position and the destination position according to the starting position information and the destination position information.

[0180] According to the first distances between each first robot and the target object, selecting a first number of first robots closest to the target object as target robots specifically includes:

[0181] Step 20231, according to the first distance and the second distance between each first robot and the target object, determine a first number of first robots whose remaining travel distances meet the current handling condition from each first robot as target robots;

[0182] The current transport condition is that the remaining travel distance of the first robot is greater than the sum of the corresponding first distance and second distance.

[0183] Specifically, since robots consume electricity, it is also necessary to consider selecting target robots in combination with the current power of each robot. Specifically, the current power of the robot can be converted into the distance it can travel (which can be called the remaining travel distance), and compared with the actual distance required to travel for the target object to be transported this time, and the first number of robots that can meet the current travel distance and have a shorter first distance are selected as target robots to ensure that each robot can complete the transport task and avoid a strike during the transport process due to insufficient power.

[0184] As another practicable manner, based on the above embodiment, optionally, controlling each target robot to move the target object from the starting position to the destination position specifically includes:

[0185] Step 1041, controlling each target robot to move from its current position to below the target object;

[0186] Step 1042, when all the target robots have reached the bottom of the target object, each target robot is controlled to synchronously lift the target object, and after each target robot is controlled to travel to the destination position, each target robot is controlled to synchronously put down the target object.

[0187] Optionally, controlling each target robot to move from its current position to below the target object includes:

[0188] For each target robot, according to the current position of the target robot and the starting position of the target object, based on the preset site map, a first driving route is planned and sent to the target robot, so that the target robot drives from its current position to under the target object according to the first driving route.

[0189] Optionally, controlling each target robot to travel to a destination position includes:

[0190] For each target robot, according to its specific position coordinates under the target object and the destination position, based on the preset site map, a second driving route is planned and sent to the target robot, so that the target robot drives to the destination position according to the second driving route.

[0191] Specifically, the control end can determine the grouping mode of each target robot according to the attribute information of the target object, determine the specific area under the starting position of the target object that each target robot needs to reach according to the starting position information of the target object and the current position and size of each target robot, and plan a driving route (i.e., a first driving route) for the target robot according to the specific area and the current position of the target robot, and send it to the target robot, so that the target robot can navigate and drive to the corresponding area under the target object according to the first driving route, and finally, when each target robot reaches its respective corresponding area, it can accurately lift the target object. The driving route planning for the target robot can be planned based on the site map of the site where the target object is located. The site map is also provided in each robot, and it can navigate and drive according to the site map and the driving route.

[0192] The control end stores the identification information of each robot and can communicate with each robot in real time. After determining the target robot, the control end can send corresponding notification information to each target robot. The notification information may include group identification, relevant information of group members, etc., to inform each target robot which robots form a group with which to perform tasks. So that each target robot can communicate with each other during driving. For example, mutual detection of distance to ensure smooth driving process, for example, after reaching the starting position, mutual confirmation, and synchronous lifting and lifting of target objects, etc. can be set according to actual needs. After planning the first driving route for each target robot, the control end sends each first driving route to the corresponding target robot. Since the current position of each target robot may be different, the first driving route from the current position to the specific position under the target object may be different, and since the robot itself has a certain size, when carrying the target object, the position relative to the target object is also different, so its specific transportation driving route (i.e., the second driving route) may also be slightly different. For example, two target robots may be grouped together and move one in front of the other or one on the left and one on the right. When they move one in front of the other, their driving routes may be the same, but when they move one on the left and one on the right, the coordinate trajectories covered by their driving routes are different.

[0193] Optionally, when each target robot drives to a specific position under the target object according to the first driving route sent by the control end, it can send arrival information to the control end. After receiving the arrival information of each target robot, the control end can synchronously send a handling instruction to each target robot, so that each target robot can synchronously lift and carry the target object, and drive according to the planned second driving route, carry it to the destination position, and synchronously land and put down the target object. The handling instruction may include the second driving route planned for each target robot.

[0194] Optionally, after each target robot drives to a specific location under the target object according to the first driving route sent by the control end, each target robot may confirm with each other that they have arrived, negotiate to lift the target object synchronously, and drive along the planned second driving route to transport it to the destination. In this case, the control end may send the second driving route of the transport process to each target robot in advance. The specific setting can be based on actual needs and is not limited in this embodiment. Robots may communicate internally through Bluetooth or other means to improve communication reliability.

[0195] Optionally, a target robot can be selected from each target robot as the master robot to ensure synchronization within the group. For example, the first robot in the group can be set as the master robot by default, or a random robot can be selected as the master robot. The master robot communicates with the control end, receives instructions from the control end, and interprets them as control commands to send to other target robots. After receiving the control commands, each target robot interprets them as different speed algorithms of the three-axis motors and executes actions, thereby ensuring overall consistency of pace and achieving no or little delay in communication. Robots can communicate internally through Bluetooth and other methods to improve communication reliability.

[0196] As another practicable manner, based on the above embodiment, optionally, there are multiple target objects;

[0197] Determining a first number of robots required according to attribute information of the target object includes:

[0198] Determining a first number of robots required for each target object according to the attribute information of each target object;

[0199] Determining a first number of robots as target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot includes:

[0200] For each target object, determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot;

[0201] Control each target robot to move the target object from the starting position to the destination position, including:

[0202] For each target object, each target robot corresponding to the target object is controlled to move the target object from a starting position to a destination position.

[0203] The robot grouping realized by the robot scheduling processing method provided by the embodiment of the present invention can realize the omnidirectional movement of the target object, such as walking in a straight line, retreating, rotating around the center and rotating around any center of a circle, and walking in any direction. Specifically, the driving route is planned for each target robot according to actual needs.

[0204] As another practicable manner, based on the above embodiment, optionally, the method further includes:

[0205] Determining a target grouping mode of a target robot according to the attribute information of the target object and the first quantity;

[0206] Accordingly, controlling each of the target robots to move the target object from the starting position to the destination position specifically includes:

[0207] According to the target grouping mode, each of the target robots is controlled to transport the target object from a starting position to a destination position.

[0208] Specifically, since the size of the robot is certain, the target object can be of various sizes. When the number of robots required for the size of the target object is different, the position of each target robot under the target object when carrying the target object is also different. For example, if three robots are grouped together, if the target object is relatively long and narrow, the grouping pattern of the three robots can be a straight line. If the target object is relatively square, the grouping pattern of the three robots can be a triangle. Therefore, different numbers of robots can correspond to different grouping patterns, and the same number of robots can also adopt different grouping patterns. The specific setting can be based on actual needs, and this embodiment does not limit it.

[0209] For example, Figure 4 As shown, it is a schematic diagram of a grouping mode provided in this embodiment; Figure 5 As shown, it is a schematic diagram of another grouping mode provided by this embodiment; Figure 6 As shown, it is a schematic diagram of another grouping mode provided by this embodiment; Figure 7 As shown, it is a schematic diagram of another grouping mode provided by this embodiment; Figure 8 As shown, it is a schematic diagram of another grouping mode provided by this embodiment. When determining the grouping mode, the distance range between the front and back and the left and right of each robot can be determined. It is also possible to pre-set various feasible grouping modes, and after determining the target robot, directly select the corresponding grouping mode to plan the driving path for each target robot. The specific grouping modes are not limited to the above-mentioned ones. Various grouping modes can be set according to the actual possible properties of the transported objects and the shape of the robots, and new grouping modes can be continuously added during the actual application process. This embodiment does not limit this.

[0210] Optionally, each robot may also be provided with two vertical infrared detection sensors for detecting other robots in the group, providing real-time feedback on the distance to other robots, and adjusting the speed or position in real time according to the distance to other robots to ensure the accuracy of the position and further improve the synchronization of the robots in the group. Specifically, on the one hand, the main robot can be used as a reference, and other robots can detect the front and rear distance between themselves and the main robot, and adjust their speed according to the front and rear distance to the main robot. When the distance to the main robot is less than the first preset range, the speed is increased, and when the distance to the main robot is greater than the first preset range, the speed is reduced. Ensure that the distance to the main robot is within the first preset range. During the handling process, the left and right distances may also be involved. When the distance to the robot next to itself is detected to be greater than the second preset range, adjust its position to be closer to the robot next to it. When the distance to the robot next to itself is detected to be less than the second preset range, adjust its position to be away from the robot next to it. Among them, the first preset range and the second preset range can be determined according to the actual grouping mode when determining the grouping mode.

[0211] It should be noted that the various practicable methods in this embodiment may be implemented separately, or may be combined in any combination without conflict to implement the present invention without limitation.

[0212] The robot scheduling processing method provided in this embodiment determines the first number of robots required according to the attribute information of the target object, determines the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, and controls each target robot to form a group to cooperate to transport the target object from the starting position to the destination position, so that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, improving the flexibility of transportation and the utilization rate of robots, and no longer needing to be customized according to the size of the goods, saving research and development costs. In addition, by selecting a robot that is closer to the target object as the target robot, each target robot can reach the starting position of the target object as soon as possible, further improving the efficiency of robot scheduling. In addition, by considering the remaining power of the robot to select a suitable robot as the target robot, it is ensured that each robot can complete the transport task and avoid the occurrence of a strike during the transport process due to insufficient power.

[0213] Another embodiment of the present invention provides a robot scheduling processing method for a robot to perform a cargo handling task. The execution subject of this embodiment is a robot scheduling processing device, which can be set in a terminal, and the terminal can be a robot.

[0214] like Fig. 9FIG. 1 is a flow chart of a method for processing robot scheduling provided in this embodiment, and the method includes:

[0215] Step 301, sending current state information to the control end, so that the control end determines the target robot for transporting the target object according to the current state information of each robot and the starting position information of the target object.

[0216] Step 302, after being determined as a target robot, the robot receives control information sent by the control terminal and performs a corresponding transport task according to the control information.

[0217] It should be noted that the specific operations of the above steps have been described in detail in the above embodiments. Please refer to the corresponding contents of the above embodiments for details, and will not be repeated here.

[0218] The robot scheduling processing method provided in the present embodiment determines the first number of robots required according to the attribute information of the target object, determines the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, controls the target robots to form a group and cooperate to transport the target object from the starting position to the destination position, thereby realizing that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, thereby improving the flexibility of transportation and the utilization rate of robots, and no longer needing to be re-customized according to the size of the goods, thereby saving R&D costs.

[0219] Another embodiment of the present invention further supplements the method of the above embodiment.

[0220] As an implementable manner, based on the above embodiment, optionally, after being determined as a target robot, receiving control information sent by the control end, and performing corresponding handling tasks according to the control information, including:

[0221] Step 4011, after being determined as the target robot, receives the first control information sent by the control end, the first control information includes a first driving route planned by the control end based on a preset site map, and the first driving route is the driving route of the target robot from the current position to the starting position of the target object.

[0222] Step 4012: driving to below the target object according to the first driving route.

[0223] Step 4013: After each target robot has moved to the bottom of the target object, it lifts the target object synchronously with other target robots.

[0224] Step 4014, receiving a second driving route sent by the control end, where the second driving route is a driving route from below the starting position of the target object to the destination position.

[0225] Step 4015: transport the target object to the destination location together with other target robots according to the second driving route.

[0226] As another practicable manner, based on the above embodiment, optionally, the method further includes:

[0227] During driving, the third distance between the robot and other target robots is detected in real time. If the third distance is not within a preset range, the driving speed or position is adjusted so that the distance between the robot and other target robots is controlled within the preset range.

[0228] It should be noted that the specific operations of the above steps have been described in detail in the above embodiments. Please refer to the corresponding contents of the above embodiments for details, and will not be repeated here.

[0229] It should be noted that the various practicable methods in this embodiment may be implemented separately, or may be combined in any combination without conflict to implement the present invention without limitation.

[0230] The processing method for robot scheduling provided in this embodiment determines the first number of robots required according to the attribute information of the target object, determines the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, controls each target robot to form a group to cooperate and transport the target object from the starting position to the destination position, and realizes that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, improving the flexibility of transportation and the utilization rate of robots, and no longer need to be customized according to the size of the goods, saving research and development costs. In addition, by selecting a robot that is closer to the target object as the target robot, each target robot can reach the starting position of the target object as soon as possible, further improving the efficiency of robot scheduling. In addition, by considering the remaining power of the robot to select a suitable robot as the target robot, it is ensured that each robot can complete the transport task and avoid the occurrence of a strike during the transport process due to insufficient power. In addition, the speed or position is adjusted by detecting the distance between robots to ensure that the mutual distance is within the preset range, the accuracy of the position is ensured, and the synchronization between robots in the group is further improved.

[0231] Yet another embodiment of the present invention provides a processing device for robot scheduling, which is used to execute the method of the above control end embodiment.

[0232] like Fig.10 , which is a schematic diagram of the structure of the processing device for robot scheduling provided in this embodiment. The processing device 50 for robot scheduling includes an acquisition module 51 , a determination module 52 , a processing module 53 and a control module 54 .

[0233] Among them, the acquisition module is used to obtain the attribute information, starting position information and destination position information of the target object to be transported; the determination module is used to determine the first number of robots required according to the attribute information of the target object; the processing module is used to determine the first number of robots as target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot; the control module is used to control each target robot to transport the target object from the starting position to the destination position.

[0234] Regarding the device in this embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0235] According to the robot scheduling processing device provided in this embodiment, the first number of robots required is determined according to the attribute information of the target object, and the first number of robots are determined as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot. The target robots are controlled to form a group and cooperate to transport the target object from the starting position to the destination position, thereby realizing that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, thereby improving the flexibility of transportation and the utilization rate of robots, and no longer needing to be re-customized according to the size of the goods, thereby saving R&D costs.

[0236] Another embodiment of the present invention further supplements the device provided in the above embodiment.

[0237] As an implementable manner, based on the above embodiment, optionally, the attribute information of the target object includes the size and weight of the target object;

[0238] Accordingly, the module is determined, specifically for:

[0239] Get the size and weight of the robot;

[0240] The first number of robots required is determined according to the size and weight of the target object and the size and load of the robots.

[0241] As another practicable manner, based on the above embodiment, optionally, the current state information includes current location information and current participating task information;

[0242] Accordingly, the processing module is specifically used for:

[0243] Determine a first robot that is not currently participating in a task according to the currently participating task information of each robot;

[0244] Determine a first distance between each first robot and the target object according to the current position information of each first robot and the starting position information of the target object;

[0245] According to the first distances between each first robot and the target object, a first number of first robots closest to the target object are selected as target robots.

[0246] Optionally, the current status information also includes current power information;

[0247] Accordingly, the processing module is also used for:

[0248] Determining the remaining travel distance of each first robot according to the current power information of each first robot;

[0249] Determine a second distance between the starting position and the destination position according to the starting position information and the destination position information;

[0250] Processing module, specifically used for:

[0251] According to the first distance and the second distance between each first robot and the target object, a first number of first robots whose remaining travel distances meet the current handling condition are determined from each first robot as target robots;

[0252] The current transport condition is that the remaining travel distance of the first robot is greater than the sum of the corresponding first distance and second distance.

[0253] As another practicable manner, based on the above embodiment, optionally, the control module is specifically configured to:

[0254] Control each target robot to move from its current position to the bottom of the target object;

[0255] When each target robot reaches the bottom of the target object, each target robot is controlled to synchronously lift the target object, and after each target robot is controlled to travel to the destination position, each target robot is controlled to synchronously put down the target object.

[0256] Optionally, the control module is specifically configured to:

[0257] For each target robot, according to the current position of the target robot and the starting position of the target object, based on the preset site map, a first driving route is planned and sent to the target robot, so that the target robot drives from its current position to under the target object according to the first driving route.

[0258] Optionally, the control module is specifically configured to:

[0259] For each target robot, according to its specific position coordinates under the target object and the destination position, based on the preset site map, a second driving route is planned and sent to the target robot, so that the target robot drives to the destination position according to the second driving route.

[0260] As another feasible method, based on the above embodiment, optionally, the determination module is also used to determine the target grouping mode of the target robots according to the attribute information and the first quantity of the target objects; the control module is specifically used to control each target robot to transport the target object from the starting position to the destination position according to the target grouping mode.

[0261] As another practicable manner, based on the above embodiment, optionally, there are multiple target objects;

[0262] The determination module is specifically used to: determine the first number of robots required for each target object according to the attribute information of each target object;

[0263] The processing module is specifically used to: for each target object, determine a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot;

[0264] The control module is specifically used to control each target robot corresponding to each target object to move the target object from a starting position to a destination position.

[0265] Regarding the device in this embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0266] It should be noted that the various practicable methods in this embodiment may be implemented separately, or may be combined in any combination without conflict to implement the present invention without limitation.

[0267] According to the robot scheduling processing device of this embodiment, by determining the first number of robots required according to the attribute information of the target object, determining the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, and controlling each target robot to form a group to cooperate to transport the target object from the starting position to the destination position, it is realized that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, improving the flexibility of transportation and the utilization rate of robots, and no longer need to be customized according to the size of the goods, saving research and development costs. In addition, by selecting a robot that is closer to the target object as the target robot, each target robot can reach the starting position of the target object as soon as possible, further improving the efficiency of robot scheduling. In addition, by considering the remaining power of the robot to select a suitable robot as the target robot, it is ensured that each robot can complete the transport task and avoid the occurrence of a strike during the transport process due to insufficient power. In addition, the speed or position is adjusted by detecting the distance between the robots to ensure that the mutual distance is within the preset range, the accuracy of the position is ensured, and the synchronization between the robots in the group is further improved.

[0268] Yet another embodiment of the present invention provides a processing device for robot scheduling, which is used to execute the method of the above-mentioned robot-side embodiment.

[0269] like Fig.11 , which is a schematic diagram of the structure of the processing device for robot scheduling provided in this embodiment. The processing device 70 for robot scheduling includes a sending module 71 , a receiving module 72 and an execution module 73 .

[0270] Among them, the sending module is used to send the current state information to the control end, so that the control end can determine the target robot used to transport the target object based on the current state information of each robot and the starting position information of the target object; the receiving module is used to receive the control information sent by the control end after being determined as the target robot; the execution module is used to execute the corresponding transportation task according to the control information.

[0271] Regarding the device in this embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0272] According to the robot scheduling processing device provided in this embodiment, the first number of robots required is determined according to the attribute information of the target object, and the first number of robots are determined as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot. The target robots are controlled to form a group and cooperate to transport the target object from the starting position to the destination position, thereby realizing that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, thereby improving the flexibility of transportation and the utilization rate of robots, and no longer needing to be re-customized according to the size of the goods, thereby saving R&D costs.

[0273] Another embodiment of the present invention further supplements the device provided in the above embodiment.

[0274] As an implementable manner, based on the above embodiment, optionally, the receiving module is specifically used to receive first control information sent by the control end, the first control information includes a first driving route planned by the control end based on a preset site map, and the first driving route is a driving route of the target robot from a current position to a starting position of a target object;

[0275] An execution module, specifically configured to drive to a position below a target object according to a first driving route;

[0276] An execution module, specifically used to lift the target object synchronously with other target robots after each target robot has driven under the target object;

[0277] The receiving module is further used to receive a second driving route sent by the control end, where the second driving route is a driving route from below the starting position of the target object to the destination position;

[0278] The execution module is also used to carry the target object to the destination position together with other target robots according to the second driving route.

[0279] As another feasible method, based on the above embodiment, optionally, the execution module is also used to detect the third distance between the robot and other target robots in real time during driving. If the third distance is not within the preset range, the driving speed or position is adjusted so that the distance between the robot and other target robots is controlled within the preset range.

[0280] Specifically, each robot can also be provided with two vertical infrared detection sensors for detecting other robots in the group, providing real-time feedback on the distance to other robots, and adjusting the speed or position in real time according to the distance to other robots to ensure the accuracy of the position and further improve the synchronization of the robots in the group. Specifically, on the one hand, the main robot can be used as a reference, and other robots can detect the front and rear distance between themselves and the main robot, and adjust their speed according to the front and rear distance to the main robot. When the distance to the main robot is less than the first preset range, the speed is increased, and when the distance to the main robot is greater than the first preset range, the speed is reduced. Ensure that the distance to the main robot is within the first preset range. During the handling process, the left and right distances may also be involved. When the distance to the robot next to itself is detected to be greater than the second preset range, the position is adjusted to be closer to the robot next to it. When the distance to the robot next to itself is detected to be less than the second preset range, the position is adjusted to be away from the robot next to it. Among them, the first preset range and the second preset range can be determined according to the actual grouping mode when determining the grouping mode.

[0281] Regarding the device in this embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0282] It should be noted that the various practicable methods in this embodiment may be implemented separately, or may be combined in any combination without conflict to implement the present invention without limitation.

[0283] According to the robot scheduling processing device of this embodiment, by determining the first number of robots required according to the attribute information of the target object, determining the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, and controlling each target robot to form a group to cooperate to transport the target object from the starting position to the destination position, it is realized that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, improving the flexibility of transportation and the utilization rate of robots, and no longer need to be customized according to the size of the goods, saving research and development costs. In addition, by selecting a robot that is closer to the target object as the target robot, each target robot can reach the starting position of the target object as soon as possible, further improving the efficiency of robot scheduling. In addition, by considering the remaining power of the robot to select a suitable robot as the target robot, it is ensured that each robot can complete the transport task and avoid the occurrence of a strike during the transport process due to insufficient power. In addition, the speed or position is adjusted by detecting the distance between the robots to ensure that the mutual distance is within the preset range, the accuracy of the position is ensured, and the synchronization between the robots in the group is further improved.

[0284] Yet another embodiment of the present invention provides an electronic device for executing the method provided in the above embodiment.

[0285] like Fig.12 FIG. 8 is a schematic diagram of the structure of an electronic device provided in this embodiment. The electronic device 80 includes: at least one processor 81 and a memory 82;

[0286] The memory stores computer-executable instructions; at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method provided by any of the above control end embodiments.

[0287] According to the electronic device of this embodiment, by determining the first number of robots required according to the attribute information of the target object, determining the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, controlling each target robot to form a group to cooperate and transport the target object from the starting position to the destination position, it is realized that different numbers of robots can be dispatched for transporting different objects. When the user's needs change, the user's needs can be met by re-grouping, improving the flexibility of transportation and the utilization rate of the robot, and no longer needing to be customized according to the size of the goods, saving research and development costs. In addition, by selecting a robot that is closer to the target object as the target robot, each target robot can reach the starting position of the target object as soon as possible, further improving the efficiency of robot scheduling. In addition, by considering the remaining power of the robot to select a suitable robot as the target robot, it is ensured that each robot can complete the transport task and avoid the situation of strike during the transport process due to insufficient power. In addition, the speed or position is adjusted by detecting the distance between the robots to ensure that the mutual distance is within the preset range, the accuracy of the position is ensured, and the synchronization between the robots in the group is further improved.

[0288] Yet another embodiment of the present invention provides a terminal for executing the method provided by the above robot-side embodiment.

[0289] like Fig.13 The figure is a schematic diagram of the structure of the terminal provided in this embodiment. The terminal 90 includes: at least one processor 91 and a memory 92;

[0290] The memory stores computer-executable instructions; at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method provided by any of the above control end embodiments.

[0291] According to the terminal of this embodiment, by determining the first number of robots required according to the attribute information of the target object, determining the first number of robots as the target robots for transporting the target object according to the starting position information of the target object and the current state information of each robot, and controlling each target robot to form a group to cooperate to transport the target object from the starting position to the destination position, it is realized that different numbers of robots can be dispatched for transporting different objects. When user needs change, user needs can be met by re-grouping, improving the flexibility of transportation and the utilization rate of robots, and no longer need to be customized according to the size of the goods, saving research and development costs. In addition, by selecting a robot that is closer to the target object as the target robot, each target robot can reach the starting position of the target object as soon as possible, further improving the efficiency of robot scheduling. In addition, by considering the remaining power of the robot to select a suitable robot as the target robot, it is ensured that each robot can complete the transport task and avoid the situation of strike during the transport process due to insufficient power. In addition, the speed or position is adjusted by distance detection between robots to ensure that the mutual distance is within the preset range, the accuracy of the position is ensured, and the synchronization between robots in the group is further improved.

[0292] Yet another embodiment of the present invention provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method provided in any of the above control end embodiments is implemented.

[0293] Yet another embodiment of the present invention provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method provided in any of the above robot-side embodiments is implemented.

[0294] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0295] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0296] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A robot scheduling processing method, characterized in that: include: Obtaining the attribute information, starting position information and destination position information of the target object to be transported; The attribute information of the target object includes the size and weight of the target object; Get the size and weight of the robot; Determine a first number of robots required according to the size and weight of the target object and the size and load of the robot; the first number is the number for one target object, and the first number is greater than or equal to 2; Determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot; Determining a target grouping mode of the target robots according to the size of the target object, the shape of the target robots and the first number; the target grouping mode refers to the formation of the first number of target robots; According to the target grouping mode, each of the target robots is controlled to transport the target object from a starting position to a destination position.

2. The method according to claim 1, characterized in that The current status information includes current location information and current participating task information; The step of determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot includes: Determine a first robot that is not currently participating in a task according to the currently participating task information of each robot; Determining a first distance between each of the first robots and the target object according to the current position information of each of the first robots and the starting position information of the target object; According to the first distance between each of the first robots and the target object, a first number of first robots closest to the target object are selected as the target robots.

3. The method according to claim 2, characterized in that The current state information also includes current power information; After determining the first robot that is not currently participating in the task according to the current participating task information of each robot, the method further includes: Determining the remaining travel distance of each of the first robots according to the current power information of each of the first robots; Determine a second distance between the starting position and the destination position according to the starting position information and the destination position information; The step of selecting a first number of first robots closest to the target object as the target robots according to the first distances between the first robots and the target object comprises: According to the first distance between each of the first robots and the target object and the second distance, determining a first number of first robots whose remaining travel distances meet the current handling condition from each of the first robots as the target robots; The current transport condition is that the remaining travel distance of the first robot is greater than the sum of the first distance corresponding to the first robot and the second distance.

4. The method according to any one of claims 1 to 3, characterized in that: The controlling each of the target robots to transport the target object from a starting position to a destination position includes: Controlling each of the target robots to move from its current position to below the target object; When each target robot reaches below the target object, each target robot is controlled to synchronously lift the target object, and after each target robot is controlled to travel to the destination position, each target robot is controlled to synchronously put down the target object.

5. The method according to claim 4, characterized in that The controlling each of the target robots to move from its current position to below the target object comprises: For each target robot, according to the current position of the target robot and the starting position of the target object, based on a preset site map, a first driving route is planned and sent to the target robot, so that the target robot drives from its current position to under the target object according to the first driving route.

6. The method according to claim 4, characterized in that The controlling each of the target robots to travel to the destination position comprises: For each target robot, according to its specific position coordinates under the target object and the destination position, based on a preset site map, a second driving route is planned and sent to the target robot, so that the target robot drives to the destination position according to the second driving route.

7. The method according to claim 1, characterized in that There are multiple target objects; The step of determining the first number of robots required according to the attribute information of the target object comprises: Determining a first number of robots required for each target object according to the attribute information of each target object; The step of determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot includes: For each target object, determining a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot; The controlling each of the target robots to transport the target object from a starting position to a destination position includes: For each target object, each target robot corresponding to the target object is controlled to transport the target object from a starting position to a destination position.

8. A robot scheduling processing method, characterized in that: include: Sending current state information to the control end, so that the control end determines a target robot for transporting the target object according to the current state information of each robot and the starting position information of the target object; wherein, before sending the current state information to the control end, the control end also obtains attribute information of the target object to be transported and the destination position information of the transport, so that the control end determines a first number of robots required according to the size and weight of the target object and the size and load of the robot; the first number is the number for one target object; and causing the control end to determine a target grouping mode of the target robots according to the size of the target object, the shape of the target robots and a first number; the first number is greater than or equal to 2; and the target grouping mode refers to the formation of the first number of target robots; When determined as a target robot, it receives control information sent by the control end, and moves the target object from the starting position to the destination position according to the control information, wherein the control information includes information on a target grouping mode related to the target robot.

9. The method according to claim 8, characterized in that Receiving control information sent by the control terminal and executing corresponding handling tasks according to the control information, including: Receiving first control information sent by the control end, the first control information including a first driving route planned by the control end based on a preset site map, the first driving route being a driving route of the target robot from a current position to a starting position of the target object; Driving to below the target object according to the first driving route; After each target robot moves to the bottom of the target object, it lifts the target object synchronously with other target robots; receiving a second driving route sent by the control end, where the second driving route is a driving route from below a starting position of the target object to a destination position; The target object is transported to the destination location together with other target robots according to the second driving route.

10. The method according to claim 8 or 9, characterized in that: The method further comprises: During driving, the third distance between the robot and other target robots is detected in real time. If the third distance is not within a preset range, the driving speed or position is adjusted so that the distance between the robot and other target robots is controlled within the preset range.

11. A processing device for robot scheduling, characterized in that: include: An acquisition module is used to acquire the attribute information, the starting position information and the destination position information of the target object to be transported; A determination module, configured to determine a first number of robots required according to attribute information of the target object; and determining a target grouping mode of target robots according to the attribute information of the target object and the first quantity; the target grouping mode is related to the attribute of the target object; a processing module, configured to determine a first number of robots as target robots for carrying the target object according to the starting position information of the target object and the current state information of each robot; The control module is used to control each of the target robots to transport the target object from a starting position to a destination position according to the target grouping mode.

12. A processing device for robot scheduling, characterized in that: include: A sending module, used for sending current state information to a control end, so that the control end determines a target robot for carrying a target object according to the current state information of each robot and the starting position information of the target object; wherein, before sending the current state information to the control end, the control end also obtains the attribute information of the target object to be carried, so that the control end determines the first number of robots required according to the size and weight of the target object and the size and load of the robot; the first number is the number for one target object; and the control end determines a target grouping mode of the target robots according to the size of the target object and the shape of the target robot with the first number; the first number is greater than or equal to 2; the target grouping mode refers to the formation of the first number of target robots; A receiving module, for receiving control information sent by the control end after being determined as a target robot, and moving the target object from a starting position to a destination position, wherein the control information includes information on a target grouping mode related to the target robot; An execution module is used to execute corresponding handling tasks according to the control information.

13. An electronic device, characterized in that: include: at least one processor and memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method according to any one of claims 1 to 7.

14. A terminal, characterized in that: include: at least one processor and memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method according to any one of claims 8 to 10.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the method according to any one of claims 1 to 7 is implemented.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the method according to any one of claims 8 to 10 is implemented.

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