Business dispatch management system, robot and business dispatch management method

Abstract

The present invention discloses a business scheduling management system, a robot and a business scheduling management method. The above system includes: a state group management module, which is used to manage multiple business groups, each business group corresponds to at least one business type, and each business type corresponds to the state information of at least one robot; a scheduling management module, which is used to manage one or more task queues corresponding to each business type in parallel, and when receiving at least one task from the business demand end, at least one task is added to the corresponding task queue, and the robot scheduling management is performed according to the multiple task queues and state information; a first interactive communication module, which is used to transmit the task data generated by one or more tasks to be executed extracted from the multiple task queues by the scheduling management module to the corresponding robots. Through the above multi-task parallel management and execution method, multi-user sharing and multi-task queue seamless planning and execution can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence, and in particular to a business scheduling management system, a robot and a business scheduling management method. Background Art

[0002] In hotels, supermarkets, shopping malls, hospitals and other places, robots are gradually replacing humans in performing tasks such as delivery, disinfection, and cleaning with their efficient, accurate, and continuous working capabilities.

[0003] At present, robot business scheduling is mainly in the form of one-to-one individual use by users. After the task is issued on the business side, it simply executes single-line business planning and execution from the robot's starting point to the user's target point. It is unable to achieve multi-user, multi-task queue-based seamless planning and execution, and it is unable to achieve multi-user robot sharing and reuse. It is unable to give full play to the robot's efficient, accurate and continuous working capabilities, thereby reducing the robot's work efficiency.

[0004] Therefore, how to achieve multi-user robot sharing and reuse, and queue-based seamless planning and execution of multiple tasks is a problem that needs to be solved urgently. Summary of the invention

[0005] The main purpose of the present invention is to disclose a business scheduling management system, a robot and a business scheduling management method, so as to at least solve the problems in the related technology that the robot business scheduling is mainly in the form of one-to-one individual use by users, and it is impossible to realize multi-user robot sharing and reuse, and queue-based seamless planning and execution of multiple tasks.

[0006] According to one aspect of the present invention, a robot service scheduling and management system is provided.

[0007] The robot business scheduling and management system according to the present invention includes: a state group management module, which is used to manage multiple business groups according to the business group identifier bound to the scene, each business group corresponds to at least one business type, and each business type corresponds to the state information of at least one robot; a scheduling management module, which is used to manage multiple task queues corresponding to the business types in parallel, and when receiving at least one task from the business demand end, the at least one task is added to the corresponding task queue, and the scheduling management of the robot is performed according to the multiple task queues and the state information; a first interactive communication module, which is respectively connected to the state group management module and the scheduling management module, and is used to transmit the task data generated by one or more tasks to be executed extracted by the scheduling management module from the multiple task queues to the corresponding robots.

[0008] According to another aspect of the present invention, a robot is provided.

[0009] The robot according to the present invention includes: a second interactive communication module, which is used to report the robot's status information and the business type and business group corresponding to the status information to the robot business scheduling and management system, and receive task data issued by the robot business scheduling and management system to execute the robot's scheduling management according to multiple task queues and the robot's status information, wherein the robot business scheduling and management system manages multiple business groups according to the business group identifier bound to the scene, each business group corresponds to at least one business type, each business type corresponds to the status information of at least one robot, and each business type corresponds to one or more task queues; a task processing module, which is used to process the received task data, convert the processing results into instructions for specific modules and transmit them to the various modules of the robot in real time, so as to control the robot to complete the task.

[0010] According to yet another aspect of the present invention, a service scheduling management method for a robot service scheduling management system is provided.

[0011] The business scheduling management method according to the present invention includes: when receiving at least one task from the business demand end, adding the at least one task to the corresponding task queues in multiple task queues, and performing scheduling management of the robot according to the multiple task queues and the status information of the robot, wherein each business group corresponds to at least one business type, each business type corresponds to the status information of at least one robot, and each of the business types corresponds to one or more task queues; task data generated by one or more tasks to be executed extracted from the multiple task queues are transmitted to the corresponding robots respectively.

[0012] According to yet another aspect of the present invention, a robot-based service scheduling management method is provided.

[0013] The robot-based business scheduling management method according to the present invention includes: reporting the robot's status information and the business type and business group corresponding to the status information to the robot business scheduling management system; receiving task data issued by the robot business scheduling management system to execute the robot's scheduling management according to multiple task queues and the robot's status information, wherein the robot business scheduling management system manages multiple business groups according to the business group identifier bound to the scene, each business group corresponds to at least one business type, each business type corresponds to at least one robot's status information, and each business type corresponds to one or more task queues; processing the received task data, converting the processing results into instructions for specific modules and transmitting them to the various modules of the robot in real time, and controlling the robot to complete the task.

[0014] According to the present invention, a robot business scheduling management solution is provided, in which a status group management module manages multiple business groups according to business group identifiers bound to scenarios, each business group corresponds to at least one business type, and each business type corresponds to the status information of at least one robot. The scheduling management module manages multiple task queues corresponding to the business types in parallel, and upon receiving at least one task from the business demand end, adds the at least one task to the corresponding task queue, and executes robot scheduling management according to the multiple task queues and the status information. Through the above-mentioned multi-task parallel management and execution method, multi-user sharing and multi-task queue-based seamless planning and execution can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a structural block diagram of a robot service scheduling management system according to an embodiment of the present invention;

[0016] Figure 2 is a structural block diagram of a robot service scheduling management system according to a preferred embodiment of the present invention;

[0017] Figure 3 is a structural block diagram of a robot according to an embodiment of the present invention;

[0018] Figure 4 is a block diagram of a robot according to a preferred embodiment of the present invention;

[0019] Figure 5 is a flow chart of a service scheduling management method based on a robot service scheduling management system according to an embodiment of the present invention;

[0020] Figure 6 4 is a flowchart of a robot-based service scheduling management method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings.

[0022] According to an embodiment of the present invention, a robot service scheduling and management system is provided.

[0023] Figure 1 is a structural block diagram of a robot service dispatch management system according to an embodiment of the present invention. Figure 1As shown, the robot business scheduling and management system includes: a state group management module 10, which is used to manage multiple business groups according to the business group identifier bound to the scene, each business group corresponds to at least one business type, and each business type corresponds to the state information of at least one robot; a scheduling management module 12, which is connected to the state group management module 10, and is used to manage multiple task queues corresponding to the business types in parallel, and when receiving at least one task from the business demand end, the at least one task is added to the corresponding task queue, and the robot scheduling management is performed according to the multiple task queues and the state information; a first interactive communication module 14, which is respectively connected to the state group management module and the scheduling management module, and is used to transmit the task data generated by one or more tasks to be executed extracted by the scheduling management module from the multiple task queues to the corresponding robots.

[0024] use Figure 1 In the robot business scheduling and management system shown, the status group management module manages multiple business groups according to the business group identifier bound to the scene, each business group corresponds to at least one business type, and each business type corresponds to the status information of at least one robot. The scheduling management module manages multiple task queues corresponding to the business types in parallel. When receiving at least one task from the business demand end, the at least one task is added to the corresponding task queue, and the robot scheduling management is performed according to the multiple task queues and the status information. Through the above-mentioned multi-task parallel management and execution method, multi-user sharing and multi-task queue-based seamless planning and execution can be achieved.

[0025] In the preferred implementation process, the above-mentioned business group identifier can be bound to the scene, for example, the business scene corresponding to shopping mall 1, the business scene corresponding to shopping mall 2, the business scene corresponding to hotel 1, etc. Each business group corresponds to multiple business types. For example, hotel 1 deploys robots of three business types, such as disinfection business, delivery business, and cleaning business. Each business type corresponds to at least one robot, and the status group management module manages the status information of each robot according to the above-mentioned layout architecture.

[0026] Among them, the above status information is information related to the robot, including but not limited to: business information, posture information, speed information, sensor working status information, battery power, current load-bearing weight, current warehouse space, etc.

[0027] Preferably, if Figure 2As shown, the above-mentioned robot business scheduling and management system may also include: a map group management module 16, which is respectively connected to the scheduling management module 12 and the first interactive communication module 14, and is used to group the business maps according to the scene identifier bound to the robot position information, and manage the business maps under each group in a group management manner, wherein each map group corresponds to at least one scene, and each scene corresponds to multiple business maps; then the first interactive communication module 14 is also used to synchronize the business maps managed by the map group management module to each robot under each business group in units of each of the business groups, or to each robot under each business type in units of each of the business types.

[0028] Preferably, the first interactive communication module 14 is also used to receive the status information reported by the robot in real time and the business group identifier and business type identifier corresponding to the status information, and receive the business map established or updated by the robot and the scene identifier corresponding to the business map; the status group management module 10 is also used to group the status information according to the business group identifier and business type identifier corresponding to the status information reported in real time; the map group management module 16 is also used to group the business map according to the scene identifier corresponding to the established or updated business map.

[0029] In multiple robot operation scenarios, the robot business scheduling and management system receives status information reported in real time by the robot (for example, business information, posture information, speed information, sensor working status information, battery power, current loadable weight, current warehouse accommodating space, and other robot-related information) and the business group and business type corresponding to the status information, and groups and manages the status information according to the business group identifier and business type identifier corresponding to the above-mentioned real-time reported status information.

[0030] In addition to receiving the status information reported in real time from the robot, the robot business dispatching and management system can also receive the business map established or updated by the robot (that is, the business map can be either the first established or the updated map in the subsequent operation process) and the scene identification corresponding to the business map. The map group management module groups and manages the business map according to the scene identification corresponding to the established or updated business map. It can be seen that the robot status information and business map maintained and managed by the robot business dispatching and management system can be pre-collected, or can be uploaded and updated in real time from the edge robot in the actual business scenario, with good real-time performance and strong scene adaptability. In addition, the business map established or updated by the robot is uploaded to the map group management module 16 of the robot business dispatching and management system for unified management, and can be shared with each robot under the same business group through the first interactive communication module 14, or shared with each robot under the same business type in units of each of the business types.

[0031] Preferably, the above-mentioned business map includes but is not limited to: a scene map, and business operation information corresponding to each target point in the robot motion trajectory and at least one target point on the robot motion trajectory bound in the scene map based on real-time coordinates.

[0032] In the preferred implementation process, the initial position of the robot can be set as the business waiting area, and the robot can be arranged in the waiting area to match the business demand side. The robot usage process is divided into the deployment stage and the use stage. In the deployment stage, it is divided into two stages: Stage 1, deployment to the vicinity of the customer, for example, the waiting area at the customer's door; Stage 2, deployment of internal customer business operations, such as regional disinfection, item delivery, and scene cleaning. In the use stage, two usage methods can be used: Method 1, when the user uses the robot for the first time, if no deployment operation is performed, the robot is first deployed to the business waiting area, and then the business operation deployment is performed, and the robot performs the business operation; after that, the robot can automatically run to the customer scene through an appointment method and perform the corresponding business operation; Method 2, when the robot has been deployed to the business waiting area, when the customer has already performed the business operation deployment, the customer can choose to automatically execute the saved business operation, or abandon the business operation, re-deploy the business operation, and can save multiple business operation deployments; when the customer only deploys the customer waiting area, the business operation deployment is performed, and the robot performs the business operation; after that, the robot can automatically run to the customer scene through an appointment method and perform the corresponding business operation.

[0033] When the robot is performing waiting area deployment and business deployment, the robot automatically records the scene map, the robot's motion trajectory, and the business operation information corresponding to each target point in at least one target point on the motion trajectory, and binds the motion trajectory and the business operation information corresponding to each target point in at least one target point on the motion trajectory to the scene map, so that the robot's motion trajectory and business operations are associated with the position coordinates on the scene map.

[0034] Preferably, the above-mentioned scheduling management module 12 may further include: a task management sub-module 120, which is used to add at least one task from the business demand end to the corresponding task queues in the multiple task queues, wherein, when multiple tasks need to be added to the same task queue, they are sorted and added in the same task queue in order of task priority, and for tasks of the same priority, they are sorted and added in the same task queue in the order of received task time; a scheduling management sub-module 122, which is used to determine whether each business type under each business group corresponds to an idle robot according to the status information of the robot maintained by the status group management module, and when it is determined that there are one or more idle robots, for each of the one or more idle robots, determine the task queue corresponding to the business type under the business group to which the idle robot belongs, and determine whether there is a task that can be assigned to the idle robot in turn according to the task sorting in the task queue.

[0035] In the preferred implementation process, after the robot is deployed, the customer makes an appointment through the business demand end (for example, the APP application end), and at least one task of the appointment is sent to the robot business scheduling and management system, which can issue the appointment tasks according to the business type; as mentioned above, since the scheduling management module manages one or more task queues corresponding to each business type in parallel, that is, one or more task queues corresponding to each business type, then for each task in the at least one task of the appointment, each task can be sent to the task queue corresponding to the corresponding business type.

[0036] When multiple tasks need to be added to the same task queue, they are sorted and added in the same task queue in the order of task priority. For tasks with the same priority, they are sorted and added in the order of the time in which the tasks are received. For example, if the priority of task 1 is higher than that of task 2, task 1 is placed before task 2; when the priority of task 1 is equal to that of task 2, tasks are added in the order in which they are received. If task 1 is received first, task 1 is placed before task 2.

[0037] According to the state information of the robot maintained by the state group management module, it is judged whether each business type under each business group corresponds to an idle robot. When it is determined that there are one or more idle robots at present, for each of the one or more idle robots, it is determined that in the task queue corresponding to the business type under the business group to which the idle robot belongs, it is judged in sequence whether there are tasks that can be assigned to the idle robot according to the task sorting in the task queue. For example, when it is determined that there is currently an idle robot in the distribution business type group under the business group of shopping mall 1, it can be comprehensively judged whether there are tasks that can be assigned to the idle robot according to the state information of the idle robot (for example, posture information, speed information, sensor working state information, battery power, available storage bins, bin accommodating space, loadable weight, distribution item category, etc.), and the tasks that can be assigned to the idle robot can be screened one by one from the task queue corresponding to the distribution business type. Since the task queue has been sorted according to the priority and the time order of receiving the task, it can be judged in sequence according to the sorting of the task queue whether each task can be assigned to the idle robot. When the tasks that can be assigned to the idle robot are screened out, the task data of the task is sent to the idle robot.

[0038] It can be seen that multiple business types can be deployed under the same business group, and one or more robots are deployed under each business type. Customers submit different business orders to the business demand side according to different business needs. The business demand side will obtain the appointment task and send it to the robot business scheduling management system; the robot business scheduling management system will perform business scheduling management according to different business types and different robot business functions, instead of adopting the same single queue management method in related technologies.

[0039] According to an embodiment of the present invention, a robot is also provided.

[0040] Figure 3 is a structural block diagram of a robot according to an embodiment of the present invention. Figure 3As shown, the robot includes: a second interactive communication module 30, which is used to report the robot's status information and the business type and business group corresponding to the status information to the robot business scheduling and management system, and receive task data issued by the robot business scheduling and management system to execute the robot's scheduling management according to multiple task queues and the robot's status information, wherein the robot business scheduling and management system manages multiple business groups according to the business group identifier bound to the scene, each business group corresponds to at least one business type, each business type corresponds to the status information of at least one robot, and each business type corresponds to one or more task queues; a task processing module 32, which is connected to the second interactive communication module 30, and is used to process the received task data, convert the processing results into instructions for specific modules and transmit them to the various modules of the robot in real time, so as to control the robot to complete the task.

[0041] Figure 3 The robot shown reports the robot's status information and the service type and service group corresponding to the status information to the robot service scheduling management system, and receives the task data issued by the robot service scheduling management system according to multiple task queues and the robot's status information to execute the robot's scheduling management, processes the received task data, converts the processing results into instructions for specific modules and transmits them to the various modules of the robot in real time, and controls the robot to complete the task. The above-mentioned robot service scheduling management system manages multiple service groups according to the service group identifier bound to the scene, each service group corresponds to at least one service type, each service type corresponds to the status information of at least one robot, and each service type corresponds to one or more task queues. Through the above-mentioned multi-task parallel management and execution method, multi-user sharing and multi-task queue-based seamless planning and execution can be achieved.

[0042] Preferably, if Figure 4 As shown, the above-mentioned robot also includes: a map management module 34, which is used to control the robot to start executing business operation deployment from the waiting area. When performing environmental mapping and business operations, the robot's motion trajectory and the business operation information corresponding to each target point in at least one target point on the motion trajectory are bound to the established scene map to obtain a business map; then the second interactive communication module 30 is also used to report the business map established or updated by the robot and the scene identifier corresponding to the business map to the robot business scheduling management system, wherein the robot business scheduling management system groups the business maps according to the scene identifier bound to the robot position information, and manages the business maps under each group in a group management manner, each map group corresponds to at least one scene, and each scene corresponds to multiple business maps.

[0043] Preferably, the second interactive communication module 30 is also used to receive a business map synchronized by each business group or business type from the robot business scheduling and management system, wherein the business map is a business map reported by other robots except the current robot among the robots corresponding to the business group or business type to which the robot belongs.

[0044] Preferably, the map management module 34 is also used to optimize the scene map corresponding to the established or updated business map, the robot motion trajectory, and the business operation information corresponding to each target point in at least one target point on the motion trajectory when a closed-loop correction of simultaneous localization and mapping (SLAM) occurs; the task processing module 32 is further used to convert the task data into business operation information, convert the processing results of the business operation information into instructions for specific modules and transmit them to each module of the robot in real time, extract the business map corresponding to the task data from one or more saved business maps, and when the robot runs to one or more target points bound to the business map, control the robot to complete the business operations corresponding to the one or more target points.

[0045] As mentioned above, in the preferred implementation process, when the robot is deployed in the business waiting area and performing business deployment, the robot automatically records the scene map, the robot's motion trajectory, and the business operation information corresponding to each target point in at least one target point on the motion trajectory, and binds the motion trajectory and business operations to the scene map to obtain a business map, so that the robot's motion trajectory and business operations are associated with the location coordinates of the scene map.

[0046] Furthermore, when a SLAM closed-loop correction occurs, the scene map corresponding to the established or updated business map, the bound robot motion trajectory, and the business operation information corresponding to each target point in at least one target point on the motion trajectory can be optimized and corrected accordingly.

[0047] In addition, the business map (scene map bound with the robot's motion trajectory and business operation information) deployed by each edge robot can be uploaded to the robot business scheduling and management system set up in the cloud for unified management, and shared by the robot business scheduling and management system with other robots of the same business group or the same business type to which the edge robot belongs for use.

[0048] According to an embodiment of the present invention, a service scheduling management method based on a robot service scheduling management system is also provided.

[0049] Figure 5 1 is a flow chart of a service scheduling management method based on a robot service scheduling management system according to an embodiment of the present invention. Figure 5 As shown, the business scheduling management method includes:

[0050] Step S501: upon receiving at least one task from a business demand end, the at least one task is added to corresponding task queues in a plurality of task queues, and scheduling management of the robot is performed according to the plurality of task queues and the status information of the robot, wherein each business group corresponds to at least one business type, each business type corresponds to the status information of at least one robot, and each of the business types corresponds to one or more task queues;

[0051] Step S502: Task data generated by one or more tasks to be executed extracted from the plurality of task queues are transmitted to corresponding robots respectively.

[0052] use Figure 5 The robot business scheduling management method shown in the figure manages multiple business groups according to the business group identifier bound to the scene, each business group corresponds to at least one business type, each business type corresponds to the status information of at least one robot, and each of the business types corresponds to one or more task queues. When receiving at least one task from the business demand end, the at least one task is added to the corresponding task queues in the multiple task queues, and the robot scheduling management is performed according to the multiple task queues and the status information. Through the above-mentioned multi-task parallel management and execution method, multi-user sharing and multi-task queue-based seamless planning and execution can be achieved.

[0053] Preferably, before step S501 receives at least one task from the business demand end, the following processing may also be included: receiving the status information reported by the robot in real time and the business group identifier and business type identifier corresponding to the status information, and receiving the business map established or updated by the robot and the scene identifier corresponding to the business map, wherein the business map includes: a scene map, and the robot motion trajectory in the scene map and the business operation information corresponding to each target point in at least one target point on the robot motion trajectory bound based on real-time coordinates; grouping and managing the status information according to the business group identifier and business type identifier corresponding to the status information reported in real time, and grouping and managing the business map according to the scene identifier corresponding to the established or updated business map, wherein each map group corresponds to at least one scene, and each scene corresponds to multiple business maps.

[0054] Preferably, in step S501, when at least one task is received from the business demand end, the at least one task is added to the corresponding task queue respectively, and the scheduling management of the robot is performed according to the multiple task queues and the status information of the robot, which can further include the following processing: adding at least one task from the business demand end to the corresponding task queue respectively, wherein, when multiple tasks need to be added to the same task queue, they are sorted and added in the same task queue in order of task priority, and for tasks of the same priority, they are sorted and added in the same task queue in the order of received task time; according to the status information of the robot maintained by the status group management module, it is judged whether each business type under each business group corresponds to an idle robot, and when it is determined that there are one or more idle robots, for each of the one or more idle robots, it is determined in the task queue corresponding to the business type under the business group to which the idle robot belongs, and it is judged in turn according to the task sorting in the task queue whether there is a task that can be assigned to the idle robot.

[0055] According to the embodiment provided by the present invention, a robot-based service scheduling management method is also provided.

[0056] Figure 6 4 is a flowchart of a robot-based service scheduling management method according to an embodiment of the present invention.

[0057] like Figure 6 As shown, the robot-based business scheduling management method includes:

[0058] Step S601: reporting the robot's status information and the service type and service group corresponding to the status information to the robot service scheduling management system;

[0059] Step S602: receiving task data issued by the robot service scheduling management system for executing the scheduling management of the robot according to multiple task queues and the status information of the robot, wherein the robot service scheduling management system manages multiple service groups according to the service group identifier bound to the scene, each service group corresponds to at least one service type, each service type corresponds to the status information of at least one robot, and each service type corresponds to one or more task queues;

[0060] Step S603: Process the received task data, convert the processing results into instructions for specific modules and transmit them to the various modules of the robot in real time to control the robot to complete the task.

[0061] use Figure 6In the method shown, the robot reports the status information and the service type and service group corresponding to the status information to the robot service scheduling management system, and receives the task data issued by the robot service scheduling management system according to multiple task queues and the status information of the robot, processes the received task data, converts the processing results into instructions for specific modules and transmits them to the various modules of the robot in real time, and controls the robot to complete the task. The above-mentioned robot service scheduling management system manages multiple service groups according to the service group identifier bound to the scene, each service group corresponds to at least one service type, each service type corresponds to the status information of at least one robot, and each service type corresponds to one or more task queues. Through the above-mentioned multi-task parallel management and execution method, multi-user sharing and multi-task queue-based seamless planning and execution can be achieved.

[0062] Preferably, the above-mentioned robot-based business scheduling management method may further include the following processing: when controlling the robot to execute business operation deployment from the waiting area, when performing environment mapping and business operations, the robot's motion trajectory and the business operation information corresponding to each target point in at least one target point on the motion trajectory are bound to the established scene map to obtain a business map; the business map established by the robot and the scene identifier corresponding to the business map are reported to the robot business scheduling management system, so that the robot business scheduling management system groups the business maps according to the scene identifier bound to the robot position information, and manages the business maps under each group in a group management manner, wherein each map group corresponds to at least one scene, and each scene corresponds to multiple business maps.

[0063] Preferably, the above-mentioned binding of the robot's motion trajectory and the business operation information corresponding to each target point in at least one target point on the motion trajectory to the established scene map, and after obtaining the business map, also includes the following processing: when real-time positioning and map construction SLAM closed-loop correction occurs, the scene map corresponding to the established or updated business map, the robot's motion trajectory and the business operation information corresponding to each target point in at least one target point on the motion trajectory are optimized; the task data is processed, and the processing results are converted into instructions for specific modules and transmitted to the various modules of the robot in real time. Controlling the robot to complete the task further includes: converting the task data into business operation information, converting the processing results of the business operation information into instructions for specific modules and transmitting them to the various modules of the robot in real time, extracting the business map corresponding to the task data from one or more saved business maps, and when the robot runs to one or more target points bound to the business map, controlling the robot to complete the business operations corresponding to the one or more target points.

[0064] In summary, with the help of the above embodiments provided by the present invention, after the robot is deployed, the user makes an appointment for the task through the business demand end, and the scheduled task is sent to the robot business scheduling management system. The business scheduling management system issues the scheduled task in units of business types; at least one scheduled task issued is managed in the task queue corresponding to each business type in the form of a task queue; when there is an idle robot, the idle robot is used first to perform the task, and it is determined whether there is a task that can be assigned to the idle robot in the task queue corresponding to the business type under the business group to which the idle robot belongs. When there is no idle robot, the received scheduled task is placed in the corresponding task queue, and the queue management is performed according to the order of task delivery and task priority. Robots in the same business group can deploy robots of multiple business types, such as delivery, disinfection, cleaning and other robots at the same time; users submit different business orders to the business demand end according to different business needs, and the business demand end sends the business needs to the robot business scheduling management system after obtaining the business needs; the robot business scheduling management system performs business scheduling management according to different business categories and different robot function categories, rather than the same single queue management. It realizes multi-user sharing of robots and seamless queue planning and execution of multiple tasks, improving the robot's intelligence level, work efficiency and usage frequency.

[0065] The above disclosures are only several specific embodiments of the present invention; however, the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A robot business dispatching and management system, characterized in that: include: A status group management module is used to manage multiple business groups according to the business group identifiers bound to the scenarios, each business group corresponds to at least one business type, and each business type corresponds to the status information of at least one robot; A scheduling management module, used to manage in parallel one or more task queues corresponding to each of the business types, and when receiving at least one task from the business demand end, add the at least one task to the corresponding task queue, and perform scheduling management of the robot according to the multiple task queues and the status information; A first interactive communication module is connected to the state group management module and the scheduling management module respectively, and is used to receive a business map established or updated by the robot and a scene identifier corresponding to the business map, wherein the business map includes: a scene map, and a robot motion track bound to the scene map based on real-time coordinates and business operation information corresponding to each target point in at least one target point on the robot motion track; The first interactive communication module is also used to transmit the task data generated by one or more tasks to be executed extracted by the scheduling management module from the multiple task queues to the corresponding robots respectively, wherein the robot converts the task data into business operation information, converts the processing results of the business operation information into instructions for specific modules and transmits them to each module of the robot in real time, extracts the business map corresponding to the task data from one or more saved business maps, and when the robot runs to one or more target points bound to the business map, controls the robot to complete the business operations corresponding to the one or more target points.

2. The robot service dispatching and management system according to claim 1, characterized in that: Also includes: A map group management module is used to group business maps according to the scene identifier bound to the robot's location information, and manage the business maps under each group in a group management manner, wherein each map group corresponds to at least one scene, and each scene corresponds to multiple business maps; The first interactive communication module is also used to synchronize the business map managed by the map group management module to each robot under each business group in units of each business group, or to synchronize it to each robot under each business type in units of each business type.

3. The robot service dispatching and management system according to claim 2, characterized in that: The first interactive communication module is further used to receive status information reported by the robot in real time and the service group identifier and service type identifier corresponding to the status information; The state group management module is further used to group and manage the state information according to the business group identifier and business type identifier corresponding to the state information reported in real time; The map group management module is further used to group and manage the business map according to the scene identifier corresponding to the established or updated business map.

4. The robot service dispatching and management system according to claim 1, characterized in that: The scheduling management module further includes: The task management submodule is used to add at least one task from the business demand end to the corresponding task queues in the multiple task queues, wherein, when multiple tasks need to be added to the same task queue, they are sorted and added in the same task queue in the order of task priority; for tasks of the same priority, they are sorted and added in the same task queue in the order of received task time; The scheduling management submodule is used to determine whether each business type under each business group corresponds to an idle robot based on the status information of the robot maintained by the status group management module. When it is determined that there are one or more idle robots, for each of the one or more idle robots, determine the task queue corresponding to the business type under the business group to which the idle robot belongs, and determine whether there is a task that can be assigned to the idle robot in order according to the task sorting in the task queue.

5. A robot, characterized in that: include: A second interactive communication module is used to report the robot's status information and the service type and service group corresponding to the status information to the robot service scheduling and management system, and receive task data issued by the robot service scheduling and management system to execute the scheduling management of the robot according to multiple task queues and the robot's status information, wherein the robot service scheduling and management system manages multiple service groups according to the service group identifier bound to the scene, each service group corresponds to at least one service type, each service type corresponds to the status information of at least one robot, and each service type corresponds to one or more task queues; A map management module is used to control the robot to start executing business operation deployment from the waiting area, and when performing environment mapping and business operations, bind the robot's motion trajectory and the business operation information corresponding to each target point in at least one target point on the motion trajectory to the established scene map to obtain a business map; The task processing module is used to process the received task data, convert the processing results into instructions for specific modules and transmit them to the various modules of the robot in real time, and control the robot to complete the task. The task processing module is further used to convert the task data into business operation information, convert the processing results of the business operation information into instructions for specific modules and transmit them to the various modules of the robot in real time, extract the business map corresponding to the task data from one or more saved business maps, and when the robot runs to one or more target points bound to the business map, control the robot to complete the business operations corresponding to the one or more target points.

6. The robot according to claim 5, characterized in that: The second interactive communication module is also used to report the business map established or updated by the robot and the scene identifier corresponding to the business map to the robot business scheduling and management system, wherein the robot business scheduling and management system groups the business maps according to the scene identifier bound to the robot position information, and manages the business maps under each group in a group management manner, each map group corresponds to at least one scene, and each scene corresponds to multiple business maps.

7. The robot according to claim 6, characterized in that: The second interactive communication module is also used to receive a business map synchronized by each business group or business type from the robot business scheduling and management system, wherein the business map is a business map reported by other robots except the current robot among the robots corresponding to the business group or business type to which the robot belongs.

8. The robot according to claim 6 or 7, characterized in that: The map management module is also used to optimize the scene map corresponding to the established or updated business map, the robot motion trajectory, and the business operation information corresponding to each target point in at least one target point on the motion trajectory when real-time positioning and map construction SLAM closed-loop correction occurs.

9. A service dispatch management method based on the robot service dispatch management system according to any one of claims 1 to 4, characterized in that: include: When receiving at least one task from a business demand end, the at least one task is added to corresponding task queues in a plurality of task queues, and scheduling management of the robot is performed according to the plurality of task queues and the status information of the robot, wherein each business group corresponds to at least one business type, each business type corresponds to the status information of at least one robot, and each of the business types corresponds to one or more task queues; The task data generated by one or more tasks to be executed extracted from the multiple task queues are transmitted to the corresponding robots respectively.

10. The service scheduling management method according to claim 9, characterized in that: Before receiving at least one task from the business demand side, it also includes: Receive status information reported by the robot in real time and the business group identifier and business type identifier corresponding to the status information, and receive a business map established or updated by the robot and a scene identifier corresponding to the business map, wherein the business map includes: a scene map, and a robot motion track bound to the scene map based on real-time coordinates and business operation information corresponding to each target point in at least one target point on the robot motion track; The status information is grouped and managed according to the business group identifier and business type identifier corresponding to the real-time reported status information, and the business map is grouped and managed according to the scene identifier corresponding to the established or updated business map, wherein each map group corresponds to at least one scene, and each scene corresponds to multiple business maps.

11. The service scheduling management method according to claim 9, characterized in that: When receiving at least one task from a business demand end, adding the at least one task to a corresponding task queue, and performing scheduling management of the robot according to the multiple task queues and the status information of the robot includes: Add at least one task from the business demand end to the corresponding task queue respectively. When multiple tasks need to be added to the same task queue, they are sorted and added in the same task queue in the order of task priority. For tasks of the same priority, they are sorted and added in the same task queue in the order of the received tasks time. According to the status information of the robot maintained by the status group management module, it is judged whether each business type under each business group corresponds to an idle robot. When it is determined that there are one or more idle robots at present, for each of the one or more idle robots, the task queue corresponding to the business type under the business group to which the idle robot belongs is determined, and it is judged in order according to the task sorting in the task queue whether there is a task that can be assigned to the idle robot.

12. A service scheduling management method for a robot based on any one of claims 5 to 8, characterized in that: include: Report the robot's status information and the service type and service group corresponding to the status information to the robot service scheduling management system; Receiving task data issued by the robot service scheduling management system for executing the scheduling management of the robot according to multiple task queues and robot status information, wherein the robot service scheduling management system manages multiple service groups according to the service group identifiers bound to the scenes, each service group corresponds to at least one service type, each service type corresponds to at least one robot status information, and each service type corresponds to one or more task queues; The received task data is processed, the processing results are converted into instructions for specific modules and transmitted to each module of the robot in real time to control the robot to complete the task.

13. The service scheduling management method according to claim 12, characterized in that: Also includes: When the robot is controlled to start executing the business operation deployment from the waiting area, when the environment is mapped and the business operation is performed, the robot motion trajectory and the business operation information corresponding to each target point in at least one target point on the motion trajectory are bound to the established scene map to obtain the business map; Report the business map established by the robot and the scene identifier corresponding to the business map to the robot business scheduling and management system, so that the robot business scheduling and management system groups the business maps according to the scene identifier bound to the robot position information, and manages the business maps under each group in a group management manner, wherein each map group corresponds to at least one scene, and each scene corresponds to multiple business maps.

14. The service scheduling management method according to claim 13, characterized in that: Binding the robot motion trajectory and the business operation information corresponding to each of at least one target point on the motion trajectory to the established scene map, and obtaining the business map, further comprising: optimizing the scene map, the robot motion trajectory, and the business operation information corresponding to each of at least one target point on the motion trajectory corresponding to the established or updated business map when real-time positioning and map construction SLAM closed-loop correction occurs; The task data is processed, and the processing results are converted into instructions for specific modules and transmitted to the various modules of the robot in real time. Controlling the robot to complete the task further includes: converting the task data into business operation information, converting the processing results of the business operation information into instructions for specific modules and transmitting them to the various modules of the robot in real time, extracting a business map corresponding to the task data from one or more saved business maps, and when the robot runs to one or more target points bound to the business map, controlling the robot to complete the business operations corresponding to the one or more target points.

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