Method, device, equipment and storage medium for robot scheduling between multiple systems

Abstract

Embodiments of the present application relate to a robot scheduling method, device, equipment and storage medium for multiple systems. The method includes: obtaining the first target point of the robot in each system at the next moment; matching each first target point with a preset point mapping relationship; wherein the point mapping relationship includes a mapping relationship between points in the path overlap area between the systems; if the match fails, the robot in each system is controlled to enter the first target point; if the match succeeds, the second target point corresponding to the first target point is determined through the point mapping relationship, and the movement of the robot in each system is controlled according to the occupancy of the second target point. This method enables the robots between the systems to pass through the path overlap area in an orderly manner, avoids collisions between the robots between the systems, and ensures the safety of the robots.

Description

Technical Field

[0001] The present application relates to the field of Internet technology, and in particular to a robot scheduling method, device, equipment and storage medium for multiple systems. Background Art

[0002] With the increasing labor costs, more and more companies in the logistics industry and other fields are using robots to replace high labor costs, which can not only reduce the operating costs of enterprises, but also improve production efficiency.

[0003] In order to avoid collisions between multiple robots at forks or public areas, multiple robots need to be dispatched so that they can pass through the traffic control area in an orderly manner.

[0004] However, existing digital factories usually have multiple automation suppliers to undertake the deployment of automation solutions. Therefore, there will be robots from multiple suppliers in one area. When robots from multiple suppliers work together in the same area, how to enable robots from multiple suppliers to pass through traffic control areas in an orderly manner is a technical problem that needs to be solved urgently. Summary of the invention

[0005] Based on this, the present application provides a robot scheduling method, device, equipment and storage medium for multiple systems.

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

[0007] Obtain the first target point of the robot in each system at the next moment;

[0008] Matching each first target point with a preset point mapping relationship; wherein the point mapping relationship includes a mapping relationship between points in a path overlap area between each system;

[0009] If the matching fails, the robots in each system are controlled to enter the first target point;

[0010] If the match is successful, the second target point corresponding to the first target point is determined through the point mapping relationship, and the movement of the robots in each system is controlled according to the occupancy of the second target point.

[0011] In a second aspect, an embodiment of the present application provides a robot scheduling device for multiple systems, including:

[0012] An acquisition module is used to acquire the first target point of the robot in each system at the next moment;

[0013] A processing module, used to match each first target point with a preset point mapping relationship; wherein the point mapping relationship includes a mapping relationship between points in a path overlap area between each system;

[0014] A first control module, used to control the robots in each system to enter the first target point when the matching fails;

[0015] The second control module is used to determine the second target point corresponding to the first target point through the point mapping relationship when the matching is successful, and control the movement of the robots in each system according to the occupancy of the second target point.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the robot scheduling method between multiple systems provided in the first aspect of the embodiment of the present application are implemented.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the robot scheduling method between multiple systems provided in the first aspect of the embodiment of the present application are implemented.

[0018] The technical solution provided by the embodiment of the present application obtains the first target point of the robot in each system at the next moment; matches each first target point with a preset point mapping relationship; if the match fails, controls the robot in each system to enter the first target point; if the match succeeds, determines the second target point corresponding to the first target point through the point mapping relationship, and controls the movement of the robot in each system according to the occupancy of the second target point. In other words, when a robot in a system is about to enter the path overlap area between the systems, the movement of the robot in the system can be controlled based on the occupancy of the points in the path overlap area by the robots in other systems, so that the robots between the systems can pass through the path overlap area in an orderly manner, avoiding collisions between the robots of the systems, and ensuring the safety of the robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a scheduling scenario applied in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a flow chart of a robot scheduling method between multiple systems provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a process of establishing a point mapping relationship provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of a structure of a robot scheduling device for multiple systems provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of this application more clear, the technical solution in this application is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0025] The embodiments of the present application can be applied to Figure 1 The scheduling scenario shown is Figure 1 As shown, the scheduling scenario includes multiple systems, such as system a and system b, each system includes multiple robots, and the robots in each system perform tasks within the management scope of each system. In addition, these multiple systems work in the same area, so there will be path overlap areas between the systems, that is, when a robot in one system enters a path overlap area to perform a task, robots in other systems may also pass through the path overlap area when performing tasks. Then, when robots between systems pass through the path overlap area at the same time, collisions may occur. Based on this, the technical solution provided in the embodiment of the present application can avoid collisions between robots of various systems and ensure the safety of robots.

[0026] It should be noted that the execution subject of the following method embodiment may be a robot scheduling device for multiple systems, which may be implemented as part or all of an electronic device through software, hardware, or a combination of software and hardware. Optionally, the electronic device may be a smart phone, a tablet computer, or a server or a server cluster composed of multiple servers.

[0027] Figure 2 A flowchart of a robot scheduling method for multiple systems provided in an embodiment of the present application. Figure 2 As shown, the method may include:

[0028] S201, obtaining the first target position of the robot in each system at the next moment.

[0029] The motion trajectory of the robots in each system is based on the points. Therefore, in order to avoid collisions between robots in each system, it is necessary to obtain the first target point that the robots in each system are about to enter at the next moment.

[0030] Optionally, the robot and the scheduling system can communicate using the Message Queuing Telemetry Transport (MQTT) mechanism, so the scheduling system can establish communication with the robots in each system based on MQTT to obtain the first target point of the robots in each system at the next moment. Among them, one system can be considered as a scheduling system.

[0031] Optionally, the scheduling systems may establish communication based on Socket, and therefore, the scheduling system may also establish communication with other scheduling systems based on Socket to obtain the first target position of the robots in each system at the next moment.

[0032] In this way, even if the bandwidth of the robots in each system is limited and the network environment is unstable, the required target point data can be reliably obtained, providing a data basis for subsequent robot scheduling between systems.

[0033] S202: Match each first target point with a preset point mapping relationship.

[0034] The point mapping relationship includes the mapping relationship between points in the path overlap area between the systems.

[0035] After obtaining each first target point, each first target point can be matched with a preset point mapping relationship to determine whether each first target point is a point in the path overlap area between each system. If not matched (i.e., matching failed), the following S203 can be executed, and if matching succeeds, the following S204 can be executed.

[0036] For example, taking the points A, C, and D of system a in the path overlap area and the points 1, 2, 3, and 4 of system b in the path overlap area as an example, the point mapping relationship can be shown in the following Table 1:

[0037] Table 1

[0038] System a System b A 1、2 C 3 D 4

[0039] For system a, assuming that the first target point B of a robot in system a at the next moment is obtained, the first target point B is matched with the point mapping relationship shown in Table 1. The matching fails, indicating that the first target point B does not belong to the point in the path overlap area between system a and system b. At this time, the robot in system b will not drive to the space where the first target point B is located, that is, the robots between system a and system b will not collide in the space where the first target point B is located, and the robot in system a can be directly controlled to drive into the first target point B.

[0040] Assuming that the first target point C of another robot in system a at the next moment is obtained, the first target point C is matched with the point mapping relationship shown in Table 1. The match is successful, indicating that the point C to be driven into by the robot is located in the path overlapping area between system a and system b. At this time, considering that the robot in system b may also drive to the space where the first target point C is located, in order to avoid the collision between the robots of system a and system b at the first target point C, the movement of the robot in system a can be controlled based on the process S204 below.

[0041] For system b, the process of system a may also be followed, and this embodiment will not be described in detail here.

[0042] S203: Control the robots in each system to enter the first target point.

[0043] Among them, in the case of matching failure, it indicates that the first target point is not a point in the path overlapping area between the systems. Then the robots in each system move independently of each other and no collision occurs. At this time, the robots in each system can be directly controlled to drive into the first target point.

[0044] S204, determining a second target point corresponding to the first target point through the point mapping relationship, and controlling the movement of robots in each system according to the occupancy status of the second target point.

[0045] The first target point may be a point in one system, and the second target point may be a point in another system corresponding to the first target point, and the first target point and the second target point may influence each other. The mutual influence here can be understood as: the first target point and the second target point cannot be occupied by the robots at the same time, otherwise, the robots of the systems will collide.

[0046] If the match is successful, it indicates that the first target point is a point within the overlapping area of ​​the paths between the systems. The robots between the systems may affect each other and collide. At this time, in order to avoid collision between the robots between the systems, the second target point corresponding to the first target point can be determined based on the above-mentioned point mapping relationship, and the movement of the robots in each system can be controlled according to the occupancy of the second target point.

[0047] Continuing with the example in S202 above, based on the point mapping relationship shown in Table 1 above, it is determined that point C to be entered by the robot in system a and point 3 in system b belong to the same path overlapping area. At this time, the movement of the robot in system a can be controlled based on the occupancy status of point 3 in system b.

[0048] The robot scheduling method for multiple systems provided in the embodiment of the present application obtains the first target point of the robot in each system at the next moment; matches each first target point with a preset point mapping relationship; if the matching fails, the robot in each system is controlled to enter the first target point; if the matching succeeds, the second target point corresponding to the first target point is determined through the point mapping relationship, and the movement of the robot in each system is controlled according to the occupancy of the second target point. In other words, when a robot in a system is about to enter the path overlap area between the systems, the movement of the robot in the system can be controlled based on the occupancy of the points in the path overlap area by the robots in other systems, so that the robots between the systems can pass through the path overlap area in an orderly manner, avoiding collisions between the robots of the systems, and ensuring the safety of the robots.

[0049] In one embodiment, controlling the movement of robots in each system according to the occupancy of the second target point in S204 may include:

[0050] For each target system, determining whether the second target point is occupied by a robot in the system corresponding to the second target point;

[0051] If yes, then controlling the robot in the target system to prohibit entering the first target point, or controlling the robot in the target system to reduce speed before reaching the first target point;

[0052] If not, the robot in the target system is controlled to enter the first target point.

[0053] Specifically, the robots in each system can report their own real-time data, and the dispatching system can determine whether the second target point is occupied by the robot based on the real-time data reported by the robot. The real-time data may include: the robot's position, driving speed, driving status or fault data.

[0054] If the second target point is already occupied by a robot in the system corresponding to the second target point, in order to avoid collision between robots of different systems, the robot in the target system is controlled to be prohibited from entering the first target point. For example, the robot in the target system is controlled to wait in place, and after the robot in the system corresponding to the second target point leaves the second target point, the robot in the target system is controlled to enter the first target point.

[0055] Optionally, when the second target point is occupied by a robot in a system corresponding to the second target point, the robot in the target system can also be controlled to slow down before reaching the first target point, so that the second target point is in an idle state when the robot in the target system reaches the first target point.

[0056] Optionally, when the second target point is occupied by a robot in the system corresponding to the second target point, the robot in the system corresponding to the second target point can also be controlled to speed up so that the second target point is in an idle state when the robot in the target system reaches the first target point.

[0057] Optionally, when the second target point is occupied by a robot in the system corresponding to the second target point and the occupation time exceeds a preset time, that is, when the second target point is occupied for a long time, a corresponding alarm message may be triggered to instruct manual on-site inspection. The alarm message may be an audible and visual alarm, a voice alarm, a telephone alarm, an email alarm, and the like.

[0058] If the second target point is not occupied by the robot in the system corresponding to the second target point, it means that the robot in the target system will not collide with the robots in other systems after entering the first target point, and the robot in the target system can be directly controlled to enter the first target point.

[0059] Since the first target point and the second target point can affect each other, when the robot in the control target system drives into the first target point, optionally, point occupancy information can be sent to the system corresponding to the second target point to indicate that the second target point is occupied. In this way, when the system corresponding to the second target point dispatches the robot, it needs to avoid the second target point, so as to avoid collision with robots in other systems.

[0060] Furthermore, after the robot in the target system leaves the first target point, it can optionally send point release information to the system corresponding to the second target point to release the occupation of the second target point. In this way, the second target point is free, and the system corresponding to the second target point can schedule the robot based on the second target point.

[0061] In this embodiment, the movement of the robots in each system can be controlled in a targeted manner according to the occupancy status of the second target point, thereby effectively avoiding collisions between robots in various systems and improving the safety of the robots.

[0062] In one embodiment, optionally, before executing the above S201, the above point mapping relationship may also be established. Figure 3 As shown, the process of establishing the point mapping relationship can be:

[0063] S301. Determine the Euclidean distance between points in each system.

[0064] S302: Establish the point mapping relationship according to the Euclidean distance between the points.

[0065] Specifically, the points included in each system are obtained respectively, and for each system, the Euclidean distance between the points between the systems is calculated. The larger the Euclidean distance between two points, the smaller the influence between the two points. Conversely, the smaller the Euclidean distance between the points, the greater the influence between the two points. In this way, the above-mentioned point mapping relationship can be established based on the Euclidean distance between the points between the systems. Optionally, the points whose Euclidean distance is less than a preset threshold can be associated to form a point mapping relationship.

[0066] Exemplarily, if the points included in system a are A, B, C, and D, and the points included in system b are 1, 2, 3, and 4, the Euclidean distances between point A and points 1, 2, 3, and 4, the Euclidean distances between point B and points 1, 2, 3, and 4, the Euclidean distances between point C and points 1, 2, 3, and 4, and the Euclidean distances between point D and points 1, 2, 3, and 4 are calculated respectively, and it is determined that the Euclidean distance between point A and points 1 and 2 is less than a preset threshold, the Euclidean distance between point C and point 3 is less than a preset threshold, and the Euclidean distance between point D and point 4 is less than a preset threshold, then point A is associated with points 1 and 2, point C is associated with point 3, and point D is associated with point 4, thereby forming a point mapping relationship as shown in Table 1 above.

[0067] In this embodiment, the point mapping relationship is established by using the Euclidean distance between the points between the systems. Since the Euclidean distance can reflect the spatial relationship between the points, the point mapping relationship established in this way is more accurate.

[0068] Figure 4 A schematic diagram of a structure of a robot scheduling device for multiple systems provided in an embodiment of the present application. Figure 4 As shown, the device may include: an acquisition module 401 , a processing module 402 , a first control module 403 , and a second control module 404 .

[0069] Specifically, the acquisition module 401 is used to acquire the first target point position of the robot in each system at the next moment;

[0070] The processing module 402 is used to match each first target point with a preset point mapping relationship; wherein the point mapping relationship includes a mapping relationship between points in a path overlap area between each system;

[0071] The first control module 403 is used to control the robots in each system to enter the first target point when the matching fails;

[0072] The second control module 404 is used to determine the second target point corresponding to the first target point through the point mapping relationship when the matching is successful, and control the movement of the robots in each system according to the occupancy of the second target point.

[0073] The robot scheduling device for multiple systems provided in the embodiment of the present application obtains the first target point of the robot in each system at the next moment; matches each first target point with a preset point mapping relationship; if the matching fails, the robot in each system is controlled to enter the first target point; if the matching succeeds, the second target point corresponding to the first target point is determined through the point mapping relationship, and the movement of the robot in each system is controlled according to the occupancy of the second target point. In other words, when a robot in a system is about to enter the path overlap area between the systems, the movement of the robot in the system can be controlled based on the occupancy of the points in the path overlap area by the robots in other systems, so that the robots between the systems can pass through the path overlap area in an orderly manner, avoiding collisions between the robots in the systems, and ensuring the safety of the robots.

[0074] Based on the above embodiment, optionally, the device may further include: a determination module and an establishment module.

[0075] Specifically, the determination module is used to determine the Euclidean distance between the points between the systems before the acquisition module 401 acquires the first target point of the robot in each system at the next moment;

[0076] The establishing module is used to establish the point mapping relationship according to the Euclidean distance between the points.

[0077] On the basis of the above embodiment, optionally, the second control module 404 is specifically used to determine, for each target system, whether the second target point is occupied by a robot in the system corresponding to the second target point; when the second target point is occupied by a robot in the system corresponding to the second target point, control the robot in the target system to prohibit entering the first target point, or control the robot in the target system to slow down before reaching the first target point; the second target control module 404 is also specifically used to control the robot in the target system to enter the first target point when the second target point is not occupied by a robot in the system corresponding to the second target point.

[0078] Based on the above embodiment, optionally, the second control module 404 is further specifically used to control the robot in the system corresponding to the second target point to speed up when the second target point is occupied by the robot in the system corresponding to the second target point.

[0079] Based on the above embodiment, optionally, the second control module 404 is also specifically used to trigger an alarm message to instruct manual on-site inspection when the second target point is occupied by a robot in the system corresponding to the second target point and the occupation time exceeds a preset time.

[0080] On the basis of the above embodiment, optionally, the acquisition module 401 is specifically used to establish communication with the robots in each system based on MQTT to obtain the first target point position of the robots in each system at the next moment.

[0081] Optionally, the systems establish communication based on Socket.

[0082] In one embodiment, an electronic device is provided, whose internal structure diagram can be as follows: Figure 5 As shown. The electronic device includes a processor, a memory and a network interface (not shown in the figure) connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The network interface of the electronic device is used to communicate with an external terminal via a network connection. The memory of the electronic device is used to store a computer program, which, when executed by the processor, implements the steps of a robot scheduling method for multiple systems.

[0083] Those skilled in the art will understand that Figure 5 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0084] In one embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0085] Obtain the first target point of the robot in each system at the next moment;

[0086] Matching each first target point with a preset point mapping relationship; wherein the point mapping relationship includes a mapping relationship between points in a path overlap area between each system;

[0087] If the matching fails, the robots in each system are controlled to enter the first target point;

[0088] If the match is successful, the second target point corresponding to the first target point is determined through the point mapping relationship, and the movement of the robots in each system is controlled according to the occupancy of the second target point.

[0089] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0090] Obtain the first target point of the robot in each system at the next moment;

[0091] Matching each first target point with a preset point mapping relationship; wherein the point mapping relationship includes a mapping relationship between points in a path overlap area between each system;

[0092] If the matching fails, the robots in each system are controlled to enter the first target point;

[0093] If the match is successful, the second target point corresponding to the first target point is determined through the point mapping relationship, and the movement of the robots in each system is controlled according to the occupancy of the second target point.

[0094] The robot scheduling device, equipment and storage medium for multiple systems provided in the above embodiments can execute the robot scheduling method for multiple systems provided in any of the above embodiments, and have the corresponding functional modules and beneficial effects of executing the method. For technical details not described in detail in the above embodiments, please refer to the robot scheduling method for multiple systems provided in any of the above embodiments.

[0095] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A robot scheduling method for multiple systems, characterized in that: include: For each system, calculate the Euclidean distance between the points between the systems; Associating points whose Euclidean distance is less than a preset threshold value, thereby forming a point mapping relationship; the point mapping relationship includes a mapping relationship between points in the path overlap area between the systems; Obtain the first target point of the robot in each system at the next moment; Matching each first target point with the point mapping relationship to determine whether each first target point is a point within the path overlap area between the systems; If the matching fails, the robots in each system are controlled to enter the first target point; If the match is successful, the second target point corresponding to the first target point is determined through the point mapping relationship. For each target system, it is determined whether the second target point is occupied by a robot in the system corresponding to the second target point. If not, the robot in the target system is controlled to enter the first target point, and point occupancy information is sent to the system corresponding to the second target point to indicate that the second target point is occupied; and after the robot in the target system leaves the first target point, point release information is sent to the system corresponding to the second target point to release the occupation of the second target point.

2. The method according to claim 1, characterized in that Also includes: If so, the robot in the target system is controlled to be prohibited from entering the first target point, or the robot in the target system is controlled to reduce speed before reaching the first target point.

3. The method according to claim 2, characterized in that Also includes: When the second target point is occupied by a robot in the system corresponding to the second target point, the robot in the system corresponding to the second target point is controlled to speed up.

4. The method according to claim 2, characterized in that: Also includes: When the second target point is occupied by a robot in the system corresponding to the second target point and the occupation time exceeds a preset time, an alarm message is triggered to instruct manual on-site inspection.

5. The method according to any one of claims 1 to 4, characterized in that The obtaining of the first target position of the robot in each system at the next moment includes: Establish communication with the robots in each system based on MQTT to obtain the first target point of the robots in each system at the next moment.

6. The method according to any one of claims 1 to 4, characterized in that The systems communicate with each other based on Socket.

7. A robot scheduling device for multiple systems, characterized in that: include: A determination module, for calculating, for each system, the Euclidean distances between points between the systems; Establishing a module for associating points whose Euclidean distance is less than a preset threshold value, thereby forming a point mapping relationship; the point mapping relationship includes a mapping relationship between points in the path overlap area between the systems; An acquisition module is used to acquire the first target point of the robot in each system at the next moment; A processing module, used for matching each first target point with the point mapping relationship to determine whether each first target point is a point within the path overlap area between each system; A first control module, used to control the robots in each system to enter the first target point when the matching fails; The second control module is used to determine the second target point corresponding to the first target point through the point mapping relationship when the matching is successful, and for each target system, determine whether the second target point is occupied by a robot in the system corresponding to the second target point; if not, control the robot in the target system to enter the first target point and send point occupancy information to the system corresponding to the second target point to indicate that the second target point is occupied; and after the robot in the target system leaves the first target point, send point release information to the system corresponding to the second target point to release the occupation of the second target point.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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