Mobile robot scheduling method, device, robot system and computer equipment

Abstract

The present application relates to a mobile robot scheduling method, device, robot system, computer equipment and computer-readable storage medium, and the mobile robot scheduling method and device are implemented based on the robot system. The robot system includes two or more mobile robots, one of which obtains a task instruction from a machine and generates a control instruction according to the task instruction, and controls the task robot to perform an operation according to the received control instruction. The mobile robot scheduling method uses a mobile robot in the robot system as a scheduling party, and controls the mobile robot to perform an operation according to the task instruction obtained from the machine. On the basis of completing the task, the system structure can be simplified, thereby further reducing the difficulty of maintenance and debugging.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a mobile robot scheduling method, device, robot system and computer equipment. Background Art

[0002] With the establishment and development of more and more intelligent factories, robots that only work on one device can no longer meet the needs of the industry. At the same time, collaborative robots are developing rapidly. Due to their good intelligence and collaboration, they are widely used in many industries such as automobiles, 3C, semiconductors, medical care, and food. At this time, multi-station working robots came into being.

[0003] When working, the multi-station working robot mainly obeys the dispatching system and is controlled by an external mobile device. Each multi-station working robot has a separate dispatching system and external mobile device, so the independence of each multi-station working robot is strong, the overall integration is poor, and it is easy to interfere with each other. In addition, since the exception handling of the external mobile device also needs to be designed separately, the structure of the entire working system is relatively large, which increases the difficulty of maintenance and debugging. Summary of the invention

[0004] Based on this, it is necessary to provide a mobile robot scheduling method, device, robot system and computer equipment to address the above technical problems.

[0005] In a first aspect, the present application provides a mobile robot scheduling method. The method comprises:

[0006] Obtaining task instructions from the machine platform; the machine platform is the task platform of the mobile robot;

[0007] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0008] In one embodiment, the method further comprises:

[0009] Obtain the working status of the machine and the task robot;

[0010] When the working status of the machine or the working status of the task robot is abnormal, an abnormal error is reported.

[0011] In one embodiment, generating a control instruction according to the task instruction and sending the control instruction to the task robot includes:

[0012] Generate control instructions based on the working status of the machine, the working status of the task robot and the task instructions, and send the control instructions to the task robot.

[0013] In one of the embodiments, the working state of the task robot includes the working state of the task robot body and the working state of the mobile control device of the task robot, and the mobile control device is used to control the movement of the communicating robot;

[0014] Generate control instructions based on the working status of the machine, the working status of the task robot and the task instructions, and send the control instructions to the task robot, including:

[0015] If the working status of the machine is abnormal, and the working status of the task robot is that the task robot is working in the machine, an evacuation command is sent to the task robot; the evacuation command is used to control the task robot to withdraw to a safe position outside the machine;

[0016] If the working state of the mobile control device of the task robot is that the mobile control device is abnormal, after the task robot completes the current work, an evacuation command is sent to the task robot;

[0017] If the working state of the task robot body is that the task robot is working abnormally, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, a stop command is sent to the mobile control device; the stop command is used to control the mobile control device to stop moving.

[0018] In one embodiment, after obtaining the task instruction from the machine, the method further includes:

[0019] The task instructions are stored in the form of tuples.

[0020] In one embodiment, the task robot includes a task robot body and a mobile control device, and the task robot performs operations according to the received control instructions, which are:

[0021] After the mobile control device controls the task robot body to reach the target position according to the control instruction, the mobile control device sends an arrival instruction to the task robot body;

[0022] After receiving the arrival instruction, the task robot body works according to the control instruction.

[0023] In a second aspect, the present application also provides a mobile robot scheduling device. The device comprises:

[0024] The acquisition module is used to obtain the task instructions from the machine platform; the machine platform is the task platform of the mobile robot;

[0025] The control module is used to generate control instructions according to the task instructions and send the control instructions to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instructions, and the task robot performs operations according to the received control instructions.

[0026] In a third aspect, the present application also provides a robot system. The robot system includes two or more mobile robots, one of which can implement the following steps:

[0027] Obtaining task instructions from the machine platform; the machine platform is the task platform of the mobile robot;

[0028] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0029] In a fourth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0030] Obtaining task instructions from the machine platform; the machine platform is the task platform of the mobile robot;

[0031] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0032] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0033] Obtaining task instructions from the machine platform; the machine platform is the task platform of the mobile robot;

[0034] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0035] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0036] Obtaining task instructions from the machine platform; the machine platform is the task platform of the mobile robot;

[0037] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0038] The mobile robot scheduling method, device, robot system, computer equipment and computer-readable storage medium are implemented based on the robot system. The robot system includes two or more mobile robots, one of which obtains a task instruction from a machine and generates a control instruction based on the task instruction, and controls the task robot to perform an operation according to the received control instruction. The mobile robot scheduling method uses a mobile robot in the robot system as a scheduling party, and controls the mobile robot to perform an operation based on the task instruction obtained from the machine, so as to simplify the system structure on the basis of completing the task. This further reduces the difficulty of maintenance and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic flow chart of a mobile robot scheduling method in one embodiment;

[0040] Figure 2 is a flow chart of a mobile robot scheduling method in another embodiment;

[0041] Figure 3 A schematic diagram of a flow chart of a mobile robot scheduling method in yet another embodiment;

[0042] Figure 4 A schematic diagram of a flow chart of an exception handling method in an embodiment;

[0043] Figure 5 is a flow chart of a mobile robot scheduling method in yet another embodiment;

[0044] Figure 6 is a structural block diagram of a mobile robot scheduling device in one embodiment;

[0045] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] The mobile robot scheduling method provided in the embodiment of the present application can be implemented based on a robot system. The robot system includes more than two mobile robots, and the mobile robot scheduling method is executed by one of the mobile robots in the robot system.

[0048] The mobile robot includes a robot body and a mobile control device. The robot body can perform operations and complete corresponding tasks. The mobile control device is used to control the movement of the robot body. The robot body can be a collaborative robot, and the mobile control device can be an external seventh axis, RGV (Rail Guided Vehicle), AGV (Automated Guided Vehicle) or IGV (Intelligent Guided Vehicle), etc.

[0049] In one embodiment, Figure 1 As shown, a mobile robot scheduling method is provided, comprising the following steps:

[0050] Step 102, obtaining a task instruction from a machine.

[0051] The machine is the task platform of the mobile robot. The mobile robot can perform operations on the machine to complete the corresponding tasks. In addition, based on different application scenarios and requirements, the task instructions can include multiple types of task signals.

[0052] Specifically, when obtaining task instructions from a machine, task instructions from multiple machines can be obtained, and multiple task instructions can be stored according to certain rules for easy reading. Optionally, since the mobile robot usually has a storage module, each machine can be represented by an address module in the storage module. Among them, the value of the address module can be used to store the task instructions of the machine. In addition, since the task instructions of the machine will be updated according to real-time needs, after obtaining the task instructions from the machine, the value of the address module needs to be changed according to the task instructions obtained in real time.

[0053] Step 104, generating a control instruction according to the task instruction, and sending the control instruction to the task robot.

[0054] The task robot is a robot that performs tasks in a machine, including a task robot body and a mobile control device. The control instruction is used to control the task robot to perform operations, specifically including controlling the task robot to go to a designated machine to perform a designated task.

[0055] The mobile robot that sends control instructions should first establish a communication connection with the task robot. After the connection is established, the mobile robot that sends control instructions generates control instructions based on the task instructions obtained from the machine, and sends the control instructions to the task robot. The task robot performs the operation after obtaining the control instructions.

[0056] Specifically, when the task robot performs an operation according to the received control instruction, the mobile control device first controls the task robot body to reach the target position according to the control instruction, and after reaching the target position, sends an arrival instruction to the task robot body. After receiving the arrival instruction, the task robot body works according to the control instruction.

[0057] In addition, before sending the control instruction to the task robot, the task status of the task robot can be obtained first, specifically, the task status of multiple task robots can be obtained. The task status of the task robot can include idle and busy. Then, the control instruction is sent to the task robot with an idle task status. After receiving the control instruction, the task robot executes the operation and updates the task status.

[0058] The above mobile robot scheduling method uses a mobile robot in the robot system as a scheduler and controls the mobile robot to perform operations according to the task instructions obtained from the machine, which can simplify the system structure on the basis of completing the task, thereby further reducing the difficulty of maintenance and debugging.

[0059] In one embodiment, based on the need to ensure device security, such as Figure 2 As shown, the industrial scheduling method also includes:

[0060] Step 202, obtaining the working status of the machine and the working status of the task robot.

[0061] The acquisition method may be real-time acquisition, and the working status may include normal and abnormal. The working status of the machine and the task robot can be represented by setting different parameters, and different values ​​of the parameters can represent different working statuses. After the working status of the machine and the working status of the task robot are acquired, if the working status is abnormal, an immediate response is made.

[0062] Step 204, when the working state of the machine or the working state of the task robot is abnormal, an abnormal error is reported.

[0063] Specifically, when the working state of the machine or the working state of the task robot is abnormal, an abnormal error can be reported, and an abnormal error report can be generated, and the error information can be sent to the operator so that the operator can troubleshoot the fault. At the same time, the task robot is controlled to perform safe operations to ensure the safety of the machine and the task robot. For example, the task robot is controlled to stop operating, or the task robot is controlled to leave the machine.

[0064] In this embodiment, by obtaining the working status of the machine and the task robot, an abnormal error is reported when the working status is abnormal. A timely response can be made when the machine or task robot is working abnormally, and relevant safety measures can be taken to ensure the safety of the machine and the task robot.

[0065] In one embodiment, Figure 3 As shown, step 104 includes step 302:

[0066] Step 302, generating a control instruction according to the working status of the machine, the working status of the task robot and the task instruction, and sending the control instruction to the task robot.

[0067] Specifically, the mobile robot as the dispatcher can also generate control instructions according to the working status of the machine, the working status of the task robot and the task instructions after obtaining the working status of the machine and the working status of the task robot, and send the control instructions to the task robot. Based on different application scenarios, the basis for generating control instructions and the role of control instructions may be different. For example, in the scenario of performing work tasks, control instructions can be generated according to the working status of the task robot and the task instructions, and then the control instructions are sent to the task robot. The task robot performs the work tasks after obtaining the control instructions. In the scenario of performing safe operations, control instructions can be generated according to the working status of the machine and the working status of the task robot, and the control instructions are used to control the task robot to perform safe operations.

[0068] In one embodiment, when the working state of the machine and the working state of the task robot are abnormal, a method for generating control instructions according to the working state of the machine and the working state of the task robot is provided. The working state of the task robot also includes the working state of the task robot body and the working state of the mobile control device of the task robot, and a communication connection can also be established between the task robot and the mobile control device. The mobile control device of the task robot is used to control the movement of the communicating robot. Based on different abnormal situations, the control instructions may include evacuation instructions, stop instructions, etc.

[0069] like Figure 4 As shown, the specific implementation process of step 302 includes the following steps:

[0070] Step 402, if the working status of the machine is that the machine is abnormal, and the working status of the task robot body is that the task robot is working in the machine, send an evacuation command to the task robot.

[0071] Among them, the working state of the task robot body is the task state of the task robot, and the task state of the task robot may include an idle state and a busy state. The evacuation command is used to control the task robot to withdraw to a safe position outside the machine. Specifically, if the acquired working state of the machine is abnormal, and the task state of the task robot body working on the machine is busy, that is, when the task robot body working on the machine is working in the machine, an evacuation command is sent to the task robot, and the task robot withdraws to a safe position outside the machine after receiving the evacuation command. Furthermore, in order to ensure the safety of the task robot body, a stop command can be sent to the task robot body before the task robot withdraws to a safe position outside the machine, and the stop command is used to control the task robot body to stop working.

[0072] Step 404: If the working state of the mobile control device of the task robot is that the mobile control device is abnormal, then after the task robot completes the current work, an evacuation command is sent to the task robot.

[0073] When the working state of the mobile control device of the task robot is that the mobile control device is abnormal, it means that the mobile control device cannot control the movement of the communicating robot, or it means that the mobile control device cannot control the movement of the communicating robot in a preset manner. At this time, after the task robot completes the current work, an evacuation command can be sent to the task robot. After receiving the evacuation command, the task robot withdraws to a safe position outside the machine. When the task robot withdraws to a safe position outside the machine, it can first send a reset command to the mobile control device to control the mobile control device to reset, or send a safety trigger command to the mobile control device to trigger the safety mechanism of the mobile control device, thereby realizing the operation of controlling the task robot body to withdraw to a safe position outside the machine.

[0074] Step 406, if the working state of the task robot body is that the task robot is working abnormally, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, a stop command is sent to the mobile control device.

[0075] The stop instruction is used to control the mobile control device to stop moving.

[0076] Specifically, when the working state of the task robot body is abnormal and the mobile control device of the task robot is still in a moving state, one possible implementation method is to send a stop command to the mobile control device, and the mobile control device stops moving after receiving the stop command; another possible implementation method is to send a stop command to the task robot body. Since the task robot body also establishes a communication connection with the mobile control device, the task robot body can directly control the mobile control device to stop moving.

[0077] In one embodiment, Figure 5As shown, step 102 further includes step 502.

[0078] Step 502: store the task instructions in the form of tuples.

[0079] Among them, tuple is a way to store data, and the storage capacity of tuple is generally a fixed value. After obtaining the task instruction from the machine, the task instruction is assigned to the tuple. At this time, the tuple includes task instructions from multiple machines, and then the task instruction of each task robot is extracted by slicing the tuple and extracting it according to the task status of the task robot. Then, the control instruction of each robot is generated according to the task instruction, and finally sent to the task robot.

[0080] For ease of understanding, a more detailed embodiment is provided below.

[0081] In one embodiment, a mobile robot scheduling method based on a robot system is provided. Specifically, a robot in the robot system is used as a master station to execute the mobile robot scheduling method. The robot includes a robot body and a mobile control device. The robot body is a collaborative robot, and the mobile control device is an external seventh axis. The implementation of the method includes the following steps:

[0082] 1. Check the hardware connection between the external seventh axis and the robot. After installation, confirm that there is no interference between the external seventh axis and the robot, the center of gravity is low, and the movement is stable to avoid the problem of unstable center of gravity;

[0083] 2. As the master robot, check the communication with the external seventh axis and the machine to ensure that the data can be fully acquired and there is no interference during the movement;

[0084] 3. After the communication connection is successful, obtain the current task instruction of the machine and assign the task instruction to a tuple;

[0085] 4. Assign tasks according to the current task instructions, sort out the communication address value and bit definition, and send them to the task robot;

[0086] 5. After receiving the task instruction, the task robot is controlled by the external seventh axis to move to the machine to perform the task, and after completing the task, it sends a work completion instruction to the master station. After receiving the work completion instruction, the master station assigns the next work task.

[0087] In this embodiment, the mobile robot is a task robot by default. In order to monitor the status of the machine, mobile robot and external seventh axis, all abnormal situations and processing methods are considered, the status of the external seventh axis, mobile robot and machine is read in real time, and an independent priority thread is made to continuously refresh and obtain the status of all devices, whether they are working, abnormal, idle, etc. And combined with the status of the current workflow, it is processed when the device is abnormal. For example, when the mobile robot is working in the machine, if the state of the machine is abnormal, the mobile robot should immediately stop the current work, withdraw to the safe position outside the machine and start to alarm and wait for personnel to handle. If the external seventh axis is abnormal when the mobile robot is in the machine, then the mobile robot will retract to the safe position after completing the work and then alarm, and it does not need to retract immediately. If the mobile robot reports an error and the external seventh axis is moving, the movement of the external seventh axis will be stopped immediately, and the machine will continue to operate normally. If the mobile robot reports an error in the working state and the external seventh axis is not moving, both the machine and the external seventh axis will alarm and stop. Specifically, the four status values ​​of the mobile robot status, the external seventh axis status, the machine status and whether the mobile robot is currently working can be made into 8421 codes to represent 16 statuses.

[0088] The mobile robot scheduling method provided in this embodiment can improve work efficiency by scheduling a robot in the robot system as a master station to control the task robot to perform tasks. Since no other external devices are required for control, the system structure is simple, which reduces the difficulty of maintenance and debugging. At the same time, by monitoring the status of multiple devices, the safety of the equipment can be guaranteed.

[0089] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0090] Based on the same inventive concept, the embodiment of the present application also provides a mobile robot scheduling device for implementing the mobile robot scheduling method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more mobile robot scheduling device embodiments provided below can refer to the limitations of the mobile robot scheduling method above, and will not be repeated here.

[0091] In one embodiment, Figure 6 As shown, a mobile robot scheduling device is provided, including: an acquisition module 602 and a control module 604, wherein:

[0092] The acquisition module 602 is used to acquire the task instruction from the machine;

[0093] The control module 604 is used to generate control instructions according to the task instructions and send the control instructions to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instructions, and the task robot performs operations according to the received control instructions.

[0094] In one embodiment, the mobile robot scheduling device further includes an abnormality monitoring module, which is specifically used to:

[0095] Obtain the working status of the machine and the working status of the task robot; when the working status of the machine or the working status of the task robot is abnormal, report an exception.

[0096] In one embodiment, the control module 604 may also be used to:

[0097] Generate control instructions based on the working status of the machine, the working status of the task robot and the task instructions, and send the control instructions to the task robot.

[0098] In one embodiment, the control module 604 further includes an exception handling module, which is specifically used to:

[0099] If the working status of the machine is abnormal, and the working status of the task robot is that the task robot is working in the machine, an evacuation command is sent to the task robot; the evacuation command is used to control the task robot to withdraw to a safe position outside the machine;

[0100] If the working state of the mobile control device of the task robot is that the mobile control device is abnormal, after the task robot completes the current work, an evacuation command is sent to the task robot;

[0101] If the working state of the task robot body is that the task robot is working abnormally, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, a stop command is sent to the mobile control device; the stop command is used to control the mobile control device to stop moving.

[0102] In one embodiment, the acquisition module 602 may also be used to:

[0103] The task instructions are stored in the form of tuples.

[0104] Each module in the above mobile robot scheduling device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0105] In one embodiment, a robot system is provided, which includes more than two mobile robots, one of which is a master robot that can execute the steps in the above-mentioned method embodiments, and the other mobile robots that are executed are task robots.

[0106] Optionally, the main body of the mobile robot can be an EtherCAT (Ether Control Automation Technology) bus collaborative robot, which has a bus communication rate of up to 10Gbps, can transmit more data in a shorter time, and has stable performance and strong anti-interference. In addition, in order to reduce the impact of abnormal power failure of the robot, an interface is usually reserved above the moving axis of the robot for wiring and robot standby position.

[0107] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store task instructions. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a mobile robot scheduling method is implemented.

[0108] Those skilled in the art will understand that Figure 7The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0109] In one embodiment, a computer 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:

[0110] Obtain task instructions from the machine;

[0111] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0112] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0113] Obtain the working status of the machine and the working status of the task robot; when the working status of the machine or the working status of the task robot is abnormal, report an exception.

[0114] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0115] Generate control instructions based on the working status of the machine, the working status of the task robot and the task instructions, and send the control instructions to the task robot.

[0116] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0117] If the working status of the machine is abnormal, and the working status of the task robot is that the task robot is working in the machine, an evacuation command is sent to the task robot; the evacuation command is used to control the task robot to withdraw to a safe position outside the machine;

[0118] If the working state of the mobile control device of the task robot is that the mobile control device is abnormal, after the task robot completes the current work, an evacuation command is sent to the task robot;

[0119] If the working state of the task robot body is that the task robot is working abnormally, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, a stop command is sent to the mobile control device; the stop command is used to control the mobile control device to stop moving.

[0120] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0121] The task instructions are stored in the form of tuples.

[0122] 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:

[0123] Obtain task instructions from the machine;

[0124] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0125] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0126] Obtain the working status of the machine and the working status of the task robot; when the working status of the machine or the working status of the task robot is abnormal, report an exception.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0128] Generate control instructions based on the working status of the machine, the working status of the task robot and the task instructions, and send the control instructions to the task robot.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0130] If the working status of the machine is abnormal, and the working status of the task robot is that the task robot is working in the machine, an evacuation command is sent to the task robot; the evacuation command is used to control the task robot to withdraw to a safe position outside the machine;

[0131] If the working state of the mobile control device of the task robot is that the mobile control device is abnormal, after the task robot completes the current work, an evacuation command is sent to the task robot;

[0132] If the working state of the task robot body is that the task robot is working abnormally, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, a stop command is sent to the mobile control device; the stop command is used to control the mobile control device to stop moving.

[0133] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0134] The task instructions are stored in the form of tuples.

[0135] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0136] Obtain task instructions from the machine;

[0137] A control instruction is generated according to the task instruction and sent to the task robot; the task robot establishes a communication connection with the mobile robot that sends the control instruction, and the task robot performs operations according to the received control instruction.

[0138] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0139] Obtain the working status of the machine and the working status of the task robot; when the working status of the machine or the working status of the task robot is abnormal, report an exception.

[0140] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0141] Generate control instructions based on the working status of the machine, the working status of the task robot and the task instructions, and send the control instructions to the task robot.

[0142] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0143] If the working status of the machine is abnormal, and the working status of the task robot is that the task robot is working in the machine, an evacuation command is sent to the task robot; the evacuation command is used to control the task robot to withdraw to a safe position outside the machine;

[0144] If the working state of the mobile control device of the task robot is that the mobile control device is abnormal, after the task robot completes the current work, an evacuation command is sent to the task robot;

[0145] If the working state of the task robot body is that the task robot is working abnormally, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, a stop command is sent to the mobile control device; the stop command is used to control the mobile control device to stop moving.

[0146] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0147] The task instructions are stored in the form of tuples.

[0148] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0149] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above 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.

[0150] The above-described 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 mobile robot scheduling method, characterized in that: Based on the implementation of a robot system, the robot system includes more than two mobile robots, and the mobile robot scheduling method is executed by one of the mobile robots in the robot system. The method includes: Obtaining a task instruction from a machine platform; the machine platform is a task platform of the mobile robot; If the working state of the machine is that the machine is abnormal, and the working state of the task robot body is that the task robot is working in the machine, an evacuation command is sent to the task robot, and the evacuation command is used to control the task robot to withdraw to a safe position outside the machine; if the working state of the mobile control device of the task robot is that the mobile control device is abnormal, then after the task robot completes the current work, an evacuation command is sent to the task robot; if the working state of the task robot body is that the task robot is working abnormally, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, then a stop command is sent to the mobile control device, and the stop command is used to control the mobile control device to stop moving; The task robot establishes a communication connection with the mobile robot that sends the control instruction. The task robot performs operations according to the received control instruction. The mobile control device is used to control the movement of the communicating robot. The control instruction includes the evacuation instruction and the stop instruction.

2. The method according to claim 1, characterized in that: The method further comprises: Acquire the working status of the machine and the working status of the task robot; When the working state of the machine or the working state of the task robot is abnormal, an abnormal error is reported.

3. The method according to claim 1, characterized in that After obtaining the task instruction from the machine, the method further includes: The task instructions are stored in the form of tuples.

4. The method according to claim 1, characterized in that: The task robot comprises a task robot body and a mobile control device, and the task robot performs operations according to the received control instructions, which are: After the mobile control device controls the task robot body to reach the target position according to the control instruction, the mobile control device sends an arrival instruction to the task robot body; After receiving the arrival instruction, the task robot body works according to the control instruction.

5. A mobile robot scheduling device, characterized in that: The device comprises: An acquisition module, used for acquiring a task instruction from a machine platform; the machine platform is a task platform of the mobile robot; A control module, for sending an evacuation command to the task robot if the working state of the machine is that the machine is abnormal, and the working state of the task robot body is that the task robot is working in the machine, and the evacuation command is used to control the task robot to withdraw to a safe position outside the machine; if the working state of the mobile control device of the task robot is that the mobile control device is abnormal, then after the task robot completes the current work, sending an evacuation command to the task robot; if the working state of the task robot body is that the task robot is abnormal, and the working state of the mobile control device of the task robot is that the mobile control device is in a moving state, then sending a stop command to the mobile control device, and the stop command is used to control the mobile control device to stop moving; The task robot establishes a communication connection with the mobile robot that sends the control instruction. The task robot performs operations according to the received control instruction. The mobile control device is used to control the movement of the communicating robot. The control instruction includes the evacuation instruction and the stop instruction.

6. The device according to claim 5, characterized in that The device also includes an abnormality monitoring module, which is used to obtain the working status of the machine and the working status of the task robot, and to report an abnormality when the working status of the machine or the working status of the task robot is abnormal.

7. The device according to claim 5, characterized in that The acquisition module is also used to store the task instructions in the form of tuples.

8. A robot system, characterized in that: The method comprises two or more mobile robots, wherein one mobile robot is used for performing robot scheduling according to the method according to any one of claims 1 to 4.

9. A computer 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 4 are implemented.

10. 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 4 are implemented.

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