Robot scheduling method and device, equipment and storage medium
By using a two-way interaction and query mechanism between the scheduling system and the robot, the robot scheduling problem caused by network latency was solved, achieving efficient path planning and release of robots in the same direction, thus improving robot operating efficiency and reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
- Filing Date
- 2022-11-29
- Publication Date
- 2026-06-05
AI Technical Summary
Existing robot scheduling systems are unable to effectively determine whether a robot has entered a restricted area when faced with network latency and packet loss, resulting in robots blocking each other and low operational efficiency, especially robots moving in the same direction cannot be allowed to pass.
Through two-way interaction between the scheduling system and the robot, an inquiry mechanism is adopted to issue tasks to the robot, including path station information and station action information. After determining whether the station has control attributes, a rejection or permission instruction is sent to resolve the interference caused by network latency and allow the robot to move in the same direction.
It improved the operational efficiency of robots, reduced time and labor costs, decreased robot queuing time, and improved traffic flow.
Smart Images
Figure CN116214496B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of robot control technology, specifically relating to a robot scheduling method, device, equipment, and storage medium. Background Technology
[0002] With technological advancements and the need to meet people's daily needs for convenience, the demand for autonomous driving robots is increasing, and the market for these robots is gradually opening up. Autonomous driving robots possess functions such as autonomous path planning, automatic obstacle avoidance, and automatic charging, enabling them to provide intelligent delivery services. Currently, they are widely used in hospitals and rest stops for services such as material delivery, food delivery, and disinfection, thereby saving labor and time costs.
[0003] Currently, multiple robots often work simultaneously when providing services. This leads to problems such as robots blocking each other on one-way streets, restricted movement in U-shaped lanes, and waiting at intersections. Traffic control for these robots is necessary to ensure efficient operation. Existing methods involve setting up controlled zones, with the scheduling system using real-time coordinates reported by the robots to determine if they have entered the zone, thus restricting other robots from entering. However, due to network issues, the reported coordinates may be delayed or lost, making it impossible to determine if a robot has entered a controlled zone. Furthermore, the scheduling system can only simply determine if a robot has entered a controlled zone, thus restricting the entry of other robots and preventing robots traveling in the same direction from passing, severely impacting operational efficiency.
[0004] Therefore, how to avoid interference caused by network latency and allow robots to move in the same direction are technical problems that urgently need to be solved by those skilled in the art. Summary of the Invention
[0005] The purpose of this application is to provide a robot scheduling method, apparatus, device, and storage medium. Through bidirectional interaction between the scheduling system and the robot, and by enabling the robot to adopt an inquiry mechanism, network-related anomalies are avoided, the robot's operating efficiency is improved, thereby reducing time and labor costs.
[0006] In a first aspect, embodiments of this application provide a robot scheduling method, characterized in that the method is executed by a scheduling system, the scheduling system being used to schedule at least one robot; the method includes:
[0007] A task is issued to the robot, the task including path station information and station action information; wherein, the path station information includes whether the station has a control attribute;
[0008] Receive inquiries from robots regarding entering target sites with regulated attributes;
[0009] Determine whether the site is already included in the set of regulated sites;
[0010] If so, a rejection instruction will be sent to the robot that has entered the waiting state.
[0011] Furthermore, after determining whether the site is already included in the set of regulated sites, the method further includes:
[0012] If not, the instruction will be sent to the robot that has entered the waiting state to schedule the robot to enter the target site.
[0013] Furthermore, after sending the rejection instruction to the robot that has entered a waiting state, the method further includes:
[0014] Add the robot's request to enter the target site to the waiting queue;
[0015] If the target site is detected to have been removed from the set of controlled sites, the query requests are processed one by one in the order they were added to the waiting queue.
[0016] Furthermore, after dispatching the robot to the target site, the method further includes:
[0017] Add the target site and sites with the same regulatory attributes as the target site to the set of regulated sites;
[0018] If it is received that the robot has moved from a station with the same regulatory attributes as the target station to a station without regulatory attributes, then the target station and the stations with the same regulatory attributes as the target station in the robot's path station information are removed from the set of regulatory stations.
[0019] Furthermore, after determining whether the site is already included in the set of regulated sites, the method further includes:
[0020] If so, and the robot's trajectory is the same and in the same direction as the robot occupying the controlled area to which the target site belongs, then the permission instruction will be sent to the robot that has entered the waiting state.
[0021] Secondly, embodiments of this application provide a robot scheduling method, characterized in that the method is executed by a robot, and the robot receives scheduling instructions from a scheduling system; the method includes:
[0022] The system receives a task from the scheduling system, the task including path station information and station action information; wherein, the path station information includes whether the station has a control attribute.
[0023] If the next target site of the current site has a control attribute, then send an inquiry request to the scheduling system to enter the target site;
[0024] Entering a waiting state;
[0025] If a rejection instruction is received from the scheduling system, wait at the current station.
[0026] Furthermore, after receiving the task issued by the scheduling system, the method further includes:
[0027] Identify whether the received tasks include sites with regulatory attributes;
[0028] If not included, then during the execution of the task, there is no need to send an inquiry request to the scheduling system to enter any station.
[0029] Furthermore, after entering the waiting state, the method further includes:
[0030] If a permission instruction is received from the scheduling system, proceed to the target station;
[0031] Identify whether at least one site following the target site has the same regulatory attributes as the target site;
[0032] If so, move from the target station to at least one subsequent station, and when the next station does not have a control attribute, send a message to the scheduling system to leave the control area;
[0033] If so, move from the target station to the next station and send a message to the dispatch system indicating that you are leaving the controlled area.
[0034] If not, move from the target station to the next station and send a message to the dispatch system indicating that you are leaving the controlled area.
[0035] Thirdly, embodiments of this application provide a robot scheduling device, characterized in that the device is executed by a scheduling system, the scheduling system being used to schedule at least one robot; the device includes:
[0036] The task instruction sending module is used to issue tasks to the robot. The tasks include path station information and station action information. The path station information includes whether the station has a control attribute.
[0037] The query request receiving module is used to receive query requests from the robot to enter a target site with regulated attributes;
[0038] The site determination module is used to determine whether a site is already included in the controlled site set.
[0039] If so, the rejection instruction sending module will be used to reject the instruction sent to the robot that has entered the waiting state.
[0040] Furthermore, the device also includes:
[0041] The permission instruction sending module, if not, is used to send permission instructions to the robot that has entered the waiting state, so as to schedule the robot to enter the target site.
[0042] Furthermore, the device also includes:
[0043] The query request addition module is used to add query requests from the robot to the target site to the waiting queue;
[0044] The query request processing module is used to process query requests one by one according to the order in which the target site is added to the waiting queue if it is detected that the target site has been removed from the set of controlled sites.
[0045] Furthermore, the device also includes:
[0046] The site addition module is used to add the target site and sites with the same regulatory attributes as the target site to the regulatory site set;
[0047] The site removal module is used to remove the target site and the sites with the same regulatory attributes as the target site from the regulatory site set if it receives a message that the robot has moved from a site with the same regulatory attributes as the target site to a site without regulatory attributes.
[0048] Furthermore, after determining whether the site is already included in the controlled site set, the device further includes:
[0049] If the permission instruction sending module is present, and the robot's trajectory is the same and in the same direction as the robot currently occupying the controlled area to which the target site belongs, then the permission instruction is sent to the robot that has entered the waiting state.
[0050] Fourthly, embodiments of this application provide a robot scheduling device, characterized in that the device is executed by a robot, and the robot receives scheduling instructions from a scheduling system; the device includes:
[0051] The task instruction receiving module is used to receive tasks issued by the scheduling system. The task includes path station information and station action information; wherein, the path station information includes whether the station has control attributes.
[0052] The query request sending module is used to send an query request to the scheduling system to enter the target site if the next target site of the current site has a control attribute.
[0053] The instruction reply waiting module is used to enter a waiting state.
[0054] The instruction receiving and waiting module is used to wait at the current station if a rejection instruction is received from the scheduling system.
[0055] Furthermore, the device also includes:
[0056] The site identification module is used to identify whether the received task includes a site with regulatory attributes;
[0057] If the query request sending module is not included, it is used to ensure that no query request to enter any station is sent to the scheduling system during the execution of the task.
[0058] Furthermore, the device also includes:
[0059] The target site entry module is used to enter the target site if it receives a permission instruction from the scheduling system.
[0060] The regulatory attribute determination module is used to identify whether at least one site following the target site has the same regulatory attribute as the target site.
[0061] If the first departure information sending module is used, it is used to move from the target station to at least one subsequent station, and when the next station does not have a control attribute, it sends a departure information to the scheduling system.
[0062] The second departure information sending module, if not, is used to move from the target station to the next station and send departure information to the dispatch system.
[0063] Fifthly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.
[0064] In a sixth aspect, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.
[0065] In a seventh aspect, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.
[0066] In this embodiment, a task is issued to the robot, the task including path station information and station action information; wherein, the path station information includes whether the station has a controlled attribute; an inquiry request is received from the robot to enter a target station with a controlled attribute; it is determined whether the station is already included in the controlled station set; if so, a rejection instruction is sent to the robot in the waiting state. This robot scheduling method can solve the interference caused by network latency and allow robots moving in the same direction to proceed. It improves the robot's operating efficiency, thereby reducing time and labor costs. Attached Figure Description
[0067] Figure 1 This is a flowchart illustrating the robot scheduling method provided in Embodiment 1 of this application;
[0068] Figure 2 This is a flowchart illustrating the robot scheduling method provided in Embodiment 2 of this application;
[0069] Figure 3 This is a flowchart illustrating the robot scheduling method provided in Embodiment 3 of this application;
[0070] Figure 4 This is a flowchart illustrating the robot scheduling method provided in Embodiment 4 of this application;
[0071] Figure 5 This is a flowchart illustrating the robot scheduling method provided in Embodiment 5 of this application;
[0072] Figure 6 This is a flowchart illustrating the robot scheduling method provided in Embodiment Six of this application;
[0073] Figure 7 This is a schematic diagram of the robot scheduling method provided in Embodiment 7 of this application;
[0074] Figure 8 This is a schematic diagram of the robot scheduling method provided in Embodiment 8 of this application;
[0075] Figure 9 This is a schematic diagram of the structure of the electronic device provided in Embodiment 9 of this application. Detailed Implementation
[0076] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.
[0077] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0078] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0079] The robot scheduling method, apparatus, device, and storage medium provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.
[0080] Example 1
[0081] Figure 1 This is a flowchart illustrating the robot scheduling method provided in Embodiment 1 of this application. Figure 1 As shown, the specific steps include the following:
[0082] S101, issue a task to the robot, the task including path station information and station action information; wherein, the path station information includes whether the station has control attributes.
[0083] The application scenario of this application embodiment can be a scenario where a robot is working and passes through a congested area. Here, a congested area refers to an area where multiple robots are prone to congestion or getting stuck, such as a narrow one-way street or a crossroads, which could cause the robot to be unable to move.
[0084] Based on the above usage scenarios, it is understood that the executing entity of this application can be a whole composed of a scheduling system and a robot, with the scheduling system and the robot working together.
[0085] A scheduling system is a system that schedules and manages the execution of tasks. Specifically, the computation, analysis, and processing of big data are generally completed by many independent processes, each performing specific data processing logic. However, in actual processing, there are sequential dependencies between data. For example, processing data A requires first processing data B, because A depends on the result of B. Due to the relationships and dependencies between data, corresponding data processing tasks also have their own relationships and dependencies. To ensure the correct results of data processing, these processing tasks must be executed in an orderly and efficient manner according to their dependencies. Therefore, to ensure that tasks are executed in an orderly manner according to rules, a scheduling system is needed to plan them. In this solution, the scheduling system is deployed on a cloud server, runs through a B / S architecture, and interacts with the robot for task scheduling.
[0086] In actual processing, there are sequential dependencies between data. For example, to process data A, data B must first be processed because A depends on the result of B. Because of these relationships and dependencies between data, corresponding data processing tasks also have their own relationships and dependencies. To ensure the correct results of data processing, these processing tasks must be executed in an orderly and efficient manner according to their dependencies.
[0087] In this solution, the robot can be a delivery robot, referring to an AI-powered robot capable of delivering goods to designated locations, or it can be a mobile intelligent terminal. Specifically, the robot body consists of a human-computer interaction system, a navigation control system, and a DCU (Domain Controller Unit). Externally, the robot may include infrared cameras, regular cameras, sensors, and ultrasonic radar to assist its operation; internally, it includes a router and a 4G communication module. Under the planning of the scheduling system, intelligent delivery services are achieved through the above-mentioned components.
[0088] In this solution, the tasks issued by the scheduling system can be task information sent to the robot. The tasks include path station information and station action information. Path station information can be the path planning information from the scheduling system. Specifically, it plans the robot's path from the starting point to the destination. Map data can be collected through robot movement, the map can be deployed using relevant deployment tools, and stations are set at regular intervals. Stations in congested areas are designated as restricted areas. Restriction attributes indicate that this station area is a congested area, and passage through this area requires the scheduling system's approval. Station action information refers to the actions the robot can perform at each station. Specifically, station action information is the action information set by the scheduling system that the robot must perform when passing through relevant stations. For example, station A is set to take a photo, requiring the robot to take a photo when passing through this station; station B is set to announce a message, requiring the robot to announce a message when passing through this station. Specific station action information is specified according to actual usage requirements and is not limited here.
[0089] S102, Receives an inquiry request from the robot to enter a target site with regulated attributes.
[0090] In this solution, the scheduling system accepts queries from robots. Specifically, when a next station has restricted access, the scheduling system receives a query from the robot. This query can inquire whether the robot can proceed, and may include information such as the robot's ID and the station's ID. The scheduling system analyzes the information before responding to the robot, confirming whether passage is permitted.
[0091] S103, determine whether the site is already included in the set of controlled sites.
[0092] In this scheme, the controlled site set can be a set of sites with controlled attributes that are occupied. Specifically, when a robot enters a site with controlled attributes, that site is added to the controlled set. For example, there are three controlled sites: A, B, and C. If sites A and B are both occupied by robots, then A and B are added to the set, i.e., (A, B). Whether a site is included in the set can be determined by comparing all elements in the set; if there are any identical elements, then the site is in the set.
[0093] S104, if so, then send a rejection instruction to the robot that has entered the waiting state.
[0094] In this scheme, the scheduling system searches the set for any control points that the robot intends to enter. If a point is found, it sends a rejection instruction to the robot. The rejection instruction can be a wait-in instruction from the scheduling system. Specifically, while the scheduling system processes the robot's query request, the robot remains in a wait-in state. If the scheduling system sends a rejection instruction to the robot, the robot must continue to wait until the scheduling system sends a permission instruction before it can proceed.
[0095] In this embodiment, a task is issued to the robot, the task including path station information and station action information; wherein, the path station information includes whether the station has a controlled attribute; an inquiry request is received from the robot to enter a target station with a controlled attribute; it is determined whether the station is already included in the controlled station set; if so, a rejection instruction is sent to the robot in the waiting state. This robot scheduling method can solve the interference caused by network latency and allow robots moving in the same direction to proceed. It improves the robot's operating efficiency, thereby reducing time and labor costs.
[0096] Example 2
[0097] Figure 2 This is a flowchart illustrating the robot scheduling method provided in Embodiment 2 of this application. This solution makes a further improvement to the above embodiment, specifically: after determining whether the site is already included in the controlled site set, the method further includes: if not, sending a permission instruction to the robot in the waiting state to schedule the robot to enter the target site.
[0098] like Figure 2 As shown, the specific steps include the following:
[0099] S202, a task is issued to the robot, the task including path station information and station action information. The path station information includes whether the station has control attributes.
[0100] S202, Receive a request from the robot to enter a target site with regulated attributes.
[0101] S203, determine whether the site is already included in the set of controlled sites.
[0102] S204, if not, then the instruction will be sent to the robot that has entered the waiting state to schedule the robot to enter the target site.
[0103] In this scheme, the scheduling system checks if there is a control station in the set that the robot intends to enter. If no target station is found in the set, it sends a permission instruction to the robot. The permission instruction can be a command from the scheduling system allowing the robot to enter. Specifically, after the scheduling system sends a permission instruction to the robot, the robot is allowed to enter the control station.
[0104] S205, if so, then a rejection instruction will be sent to the robot that has entered the waiting state.
[0105] Based on the above embodiments, optionally, the method further includes, after determining whether the site is included in the controlled site set, the method further includes:
[0106] If so, and the robot's trajectory is the same and in the same direction as the robot occupying the controlled area to which the target site belongs, then the permission instruction will be sent to the robot that has entered the waiting state.
[0107] In this scheme, when the target station is already occupied, the scheduling system will re-evaluate the robot's travel path. If the waiting robot and the robot currently traveling within its controlled area share the same path and are both traveling in the same direction, a permission to enter command will be sent to the waiting robot. For example, if both robots travel along path A—B—C (starting from station A, passing through station B, and leaving from station C), it can be determined that the two robots have the same path and are traveling in the same direction, and the scheduling system can send a permission to pass command to the waiting robot.
[0108] In this embodiment, the scheduling system, after judgment, allows robots traveling in the same direction to pass. This design reduces robot queuing time and improves robot passage efficiency.
[0109] In this embodiment, improvements are made to the above embodiment. Specifically, after determining whether the site is already included in the controlled site set, the method further includes: if not, sending a permission instruction to the robot in a waiting state to schedule the robot to enter the target site. By issuing permission instructions, the robot can pass normally, further improving the robot's working efficiency.
[0110] Example 3
[0111] Figure 3This is a flowchart illustrating the robot scheduling method provided in Embodiment 3 of this application. This solution makes a further improvement on the above embodiment, specifically: after sending a rejection instruction to the robot in a waiting state, the method further includes: adding the robot's inquiry request to enter the target site to the waiting queue; if the target site is detected to have been removed from the controlled site set, then the inquiry requests are processed one by one according to the order in which they were added to the waiting queue.
[0112] like Figure 3 As shown, the specific steps include the following:
[0113] S301, Issue a task to the robot, the task including path station information and station action information. The path station information includes whether the station has a control attribute.
[0114] S302, Receives an inquiry request from the robot to enter a target site with regulated attributes.
[0115] S303, determine whether the site is already included in the set of controlled sites.
[0116] S304, if so, then a rejection instruction will be sent to the robot that has entered the waiting state.
[0117] S305, add the robot's request to enter the target site to the waiting queue.
[0118] In this scheme, the waiting queue can store data through a set mapping. Specifically, mapping refers to the correspondence between two elements in a set. Within this set, data can be added, deleted, modified, and searched. After the scheduling system sends a rejection command to the robot, it adds the robot's query request information to the waiting queue. Each piece of data in the waiting queue can include the robot number and the station number. For example, inserting a piece of data with robot number 001 and station number A can be represented as (A:001).
[0119] S306, if it is detected that the target site has been removed from the set of controlled sites, then the query requests are processed one by one according to the order in which they were added to the waiting queue.
[0120] In this scheme, after receiving a notification that a robot has left a controlled station, the scheduling system removes the controlled station from the set. It then checks the waiting queue to see if any robots are waiting at that station. If so, it sends a permission instruction to the first robot in the queue and removes that robot's data from the waiting queue. For example, the controlled station set contains three station elements (A, B, C), and the waiting queue contains three data entries (A: 001, C: 002, B: 003). Now, if a robot at station A leaves the controlled station, element A is deleted from the set, becoming (B, C). The scheduling system then searches for station A in the queue. If it finds that the first data entry for station A corresponds to robot 001, it sends a permission instruction to robot 001, deletes the data for station A from the waiting queue, becoming (C: 002, B: 003), and then adds A back to the controlled station set, becoming (A, B, C).
[0121] In this embodiment, improvements are made to the above embodiment. Specifically, after sending a rejection instruction to the robot in a waiting state, the method further includes: adding the robot's inquiry request to enter the target station to a waiting queue; if the target station is detected to have been removed from the controlled station set, the inquiry requests are processed one by one according to the order in which they were added to the waiting queue. By processing the robot's inquiry information into a mapping relationship through the scheduling system, the robots can queue up to wait for passage. This makes the scheduling algorithm more convenient and efficient in handling the robot queuing problem, thereby improving the processing efficiency of the scheduling system and thus improving the overall working efficiency of the scheduling system and the robots.
[0122] Example 4
[0123] Figure 4 This is a flowchart illustrating the robot scheduling method provided in Embodiment 4 of this application. This solution makes a further improvement to the above embodiment, specifically: after scheduling the robot to enter the target station, the method further includes: adding the target station and stations with the same control attributes as the target station to a control station set; if it is received that the robot has moved from a station with the same control attributes as the target station to a station without control attributes, then removing the target station and stations with the same control attributes as the target station from the control station set in the robot's path station information.
[0124] like Figure 4 As shown, the specific steps include the following:
[0125] S401, issue a task to the robot, the task including path station information and station action information; wherein, the path station information includes whether the station has a control attribute.
[0126] S402, Receives an inquiry request from the robot to enter a target site with regulated attributes.
[0127] S403, determine whether the site is already included in the set of controlled sites.
[0128] S404, if not, then the instruction will be sent to the robot that has entered the waiting state to schedule the robot to enter the target site.
[0129] S405, add the target site and sites with the same regulatory attributes as the target site to the regulatory site set.
[0130] In this scheme, an area with two or more consecutive controlled stations can be designated as a controlled area. After the scheduling system sends a permission command to allow the robot to pass, it adds all stations within the controlled area to the controlled station set. For example, if robot 001's route is A—B—C—D—E, where B, C, and D all have controlled attributes, the scheduling system receives an inquiry request from robot 001 when it reaches A and issues a permission command, while simultaneously adding B, C, and D to the controlled station set.
[0131] S406, if it is received that the robot has moved from a station with the same control attribute as the target station to a station without control attribute, then the target station and the station with the same control attribute as the target station in the robot's path station information are removed from the control station set.
[0132] In this scheme, after receiving the robot's departure information, the scheduling system removes the station information along the robot's path from the controlled station set. Specifically, the scheduling system receives information that the robot has left the last station with a controlled attribute and removes all station information within that controlled area from the controlled station set. For example, robot 001's route is A—B—C—D—E, where B, C, and D all have controlled attributes. The controlled station information at this time should be (B, C, D). When the robot leaves D, the scheduling system receives the robot's departure station information. At this point, the scheduling system removes the three station elements B, C, and D from the set. In addition to receiving the robot's departure information, the scheduling system also obtains the robot's coordinates in real time to determine whether the robot has left the controlled area.
[0133] S407, if so, then a rejection instruction will be sent to the robot that has entered the waiting state.
[0134] In this embodiment, improvements are made to the above embodiment. Specifically, after scheduling the robot to enter the target station, the method further includes: adding the target station and stations with the same control attributes as the target station to a control station set; if it is received that the robot has moved from a station with the same control attributes as the target station to a station without control attributes, then removing the target station and stations with the same control attributes as the target station from the control station set in the robot's path station information. By setting control zones for congestion-prone areas and adding control zone stations with robots to the set, the robot scheduling problem is solved, robot efficiency is further improved, and costs are saved.
[0135] Example 5
[0136] Figure 5 This is a flowchart illustrating the robot scheduling method provided in Embodiment 5 of this application.
[0137] like Figure 5 As shown, the specific steps include the following:
[0138] S501, receive a task issued by the scheduling system, the task including path station information and station action information; wherein, the path station information includes whether the station has control attributes.
[0139] In this solution, the robot receives tasks from the scheduling system. Specifically, the tasks include path station information and action information. Path station information refers to the path the robot needs to traverse, and corresponding stations should be set along the path. Each station should also indicate whether it has a controllable attribute. Action information can be the actions the robot will perform upon reaching the corresponding station, such as taking a photo or making a announcement.
[0140] S502, if the next target station of the current station has a control attribute, then send an inquiry request to the scheduling system to enter the target station.
[0141] In this solution, when the robot reaches the current station, it will determine whether the next station has a control attribute. If it has a control attribute, it needs to send an inquiry request to the scheduling system to confirm whether it can pass normally.
[0142] S503, entering standby mode.
[0143] In this scheme, the robot queries the scheduling system when it reaches the current target station and waits in place during the query process. It will only move to the next station after receiving permission from the scheduling system; otherwise, it remains stationary until the scheduling system responds.
[0144] S504, if a rejection instruction is received from the scheduling system, wait at the current station.
[0145] In this scheme, the rejection instruction can be an instruction for the robot to wait in place. Specifically, after receiving a rejection instruction from the scheduling system, the robot will remain stationary at the current station until it receives a permission instruction from the scheduling system, at which point it can resume movement.
[0146] Based on the above embodiments, optionally, after receiving the task issued by the scheduling system, the method further includes...
[0147] Identify whether the received tasks include sites with regulatory attributes;
[0148] If not included, then during the execution of the task, there is no need to send an inquiry request to the scheduling system to enter any station.
[0149] In this solution, after receiving a task from the scheduling system, the robot first identifies whether each station in the path information has a regulated attribute. If no regulated station is identified in the task, the robot does not need to send an inquiry request to the scheduling system. Specifically, in tasks without regulated stations, the robot can complete the task offline or offline without interacting with the scheduling system.
[0150] In this embodiment, the robot has a built-in logic that allows it to work offline if there is no controlled attribute site, which avoids the robot and scheduling system's dependence on the network, enabling the robot to complete tasks independently and further improving work efficiency.
[0151] In this embodiment, a task issued by the scheduling system is received. The task includes path station information and station action information. The path station information includes whether the station has a control attribute. If the next target station of the current station has a control attribute, an inquiry request to enter the target station is sent to the scheduling system; a waiting state is entered; if a rejection instruction is received from the scheduling system, the system waits at the current station. By adopting an inquiry mechanism, network-related anomalies are avoided, thereby improving overall operational efficiency.
[0152] Example 6
[0153] Figure 6This is a flowchart illustrating the robot scheduling method provided in Embodiment Six of this application. This solution makes a further improvement to the above embodiment, specifically: after entering the waiting state, the method further includes: if a permission instruction is received from the scheduling system, proceeding to the target station; identifying whether at least one station after the target station has the same control attribute as the target station; if so, moving from the target station to at least one subsequent station, and when moving to the next station which does not have a control attribute, sending a message to the scheduling system indicating departure from the control area;
[0154] like Figure 6 As shown, the specific steps include the following:
[0155] S601, receive a task issued by the scheduling system, the task including path station information and station action information; wherein, the path station information includes whether the station has control attributes.
[0156] S602, if the next target station of the current station has a control attribute, then send an inquiry request to the scheduling system to enter the target station.
[0157] S603, entering standby mode.
[0158] S604, if a permission instruction is received from the scheduling system, proceed to the target station.
[0159] In this scenario, the robot waits in place until it receives a permission command from the scheduling system. At this point, the robot resumes movement and proceeds to the next station.
[0160] S605, identify whether at least one site following the target site has the same regulatory attributes as the target site.
[0161] In this solution, after the robot enters a station within a controlled area, it will identify whether the next station has controlled attributes, and it can also identify whether multiple stations have controlled attributes. For example, it can identify whether the area is a controlled area from the built-in map. If it is a controlled area, there will be two or more controlled stations. If it is not a controlled area, only the current station should have controlled attributes, and the next station should not have controlled attributes.
[0162] S606, if so, then move from the target station to at least one subsequent station, and when the next station does not have a control attribute, send a message to the scheduling system to leave the control area.
[0163] In this solution, each time the robot arrives at a station, it determines whether the next station has regulated access. If the next station still has regulated access, the robot continues moving without reporting to the scheduling system, and can remain offline at this time. Only when the robot detects that the next station does not have regulated access does it reconnect to the network and send information about leaving the regulated area to the scheduling system. The robot only needs to send information to the scheduling system; it does not need to wait for a response. While sending information, the robot remains in motion.
[0164] S607, if not, move from the target station to the next station and send a message to the dispatch system indicating that you are leaving the controlled area.
[0165] In this solution, each time the robot arrives at a station, it determines whether the next station has regulated access. If the next station does not have regulated access, it needs to activate network mode and send information about leaving the regulated area to the scheduling system. The robot only needs to send the information to the scheduling system; it does not need to wait for a response. While sending the information, the robot remains in a walking state.
[0166] S608, if a rejection instruction is received from the scheduling system, wait at the current station.
[0167] In this embodiment, improvements are made to the above embodiment. Specifically, if a permission instruction is received from the scheduling system, the system proceeds to the target station; it then identifies whether at least one station following the target station has the same control attributes as the target station; if so, it moves from the target station to at least one subsequent station, and upon reaching the next station without control attributes, sends a message to the scheduling system indicating departure from the control area; otherwise, it moves from the target station to the next station and sends a message to the scheduling system indicating departure from the control area. By identifying whether the next station has control attributes and determining whether to continue offline, abnormal problems caused by network instability in real-time interaction are avoided, thereby improving work efficiency and reducing time costs.
[0168] Example 7
[0169] Figure 7 This is a schematic diagram of the robot scheduling method provided in Embodiment 7 of this application.
[0170] like Figure 7 As shown, it specifically includes the following:
[0171] The task instruction sending module 701 is used to send tasks to the robot. The tasks include path station information and station action information. The path station information includes whether the station has a control attribute.
[0172] The inquiry request receiving module 702 is used to receive inquiry requests from the robot to enter a target site with regulated attributes.
[0173] The site determination module 703 is used to determine whether the site is already included in the controlled site set.
[0174] If so, the rejection instruction sending module 704 will be used to send a rejection instruction to the robot that has entered the waiting state.
[0175] Furthermore, the device also includes:
[0176] The permission instruction sending module, if not, is used to send permission instructions to the robot that has entered the waiting state, so as to schedule the robot to enter the target site.
[0177] Furthermore, the device also includes:
[0178] The Inquiry Request Add module is used to add inquiry requests from robots entering the target site to the waiting queue.
[0179] The query request processing module is used to process query requests one by one according to the order in which the target site is added to the waiting queue if it is detected that the target site has been removed from the set of controlled sites.
[0180] Furthermore, the device also includes:
[0181] The site addition module is used to add the target site and sites with the same regulatory attributes as the target site to the regulatory site set.
[0182] The site removal module is used to remove the target site and the sites with the same regulatory attributes as the target site from the regulatory site set if it receives a message that the robot has moved from a site with the same regulatory attributes as the target site to a site without regulatory attributes.
[0183] Furthermore, after determining whether the site is already included in the controlled site set, the device further includes:
[0184] If the permission instruction sending module is present, and the robot's trajectory is the same and in the same direction as the robot currently occupying the controlled area to which the target site belongs, then the permission instruction is sent to the robot that has entered the waiting state.
[0185] In this embodiment, a task is issued to the robot, the task including path station information and station action information; wherein, the path station information includes whether the station has a controlled attribute; an inquiry request is received from the robot to enter a target station with a controlled attribute; it is determined whether the station is already included in the controlled station set; if so, a rejection instruction is sent to the robot in the waiting state. This robot scheduling method can solve the interference caused by network latency and allow robots moving in the same direction to proceed. It improves the robot's operating efficiency, thereby reducing time and labor costs.
[0186] Example 8
[0187] Figure 8 This is a schematic diagram of the robot scheduling method provided in Embodiment 8 of this application.
[0188] like Figure 8 As shown, it specifically includes the following:
[0189] The task instruction receiving module 801 is used to receive tasks issued by the scheduling system. The task includes path station information and station action information. The path station information includes whether the station has control attributes.
[0190] The query request sending module 802 is used to send an query request to the scheduling system to enter the target site if the next target site of the current site has a control attribute.
[0191] The instruction reply waiting module 803 is used to enter the waiting state.
[0192] The instruction receiving and waiting module 804 is used to wait at the current station if it receives a rejection instruction from the scheduling system.
[0193] Furthermore, the device also includes:
[0194] The site identification module is used to identify whether the received task includes a site with regulatory attributes;
[0195] If the query request sending module is not included, it is used to ensure that no query request to enter any station is sent to the scheduling system during the execution of the task.
[0196] Furthermore, the device also includes:
[0197] The target site entry module is used to enter the target site if it receives a permission instruction from the scheduling system.
[0198] The regulatory attribute determination module is used to identify whether at least one site following the target site has the same regulatory attribute as the target site;
[0199] If the first departure information sending module is used, it is used to move from the target station to at least one subsequent station, and when the next station does not have a control attribute, it sends a departure information to the scheduling system.
[0200] The second departure information sending module, if not, is used to move from the target station to the next station and send departure information to the dispatch system.
[0201] In this embodiment, a task issued by the scheduling system is received. The task includes path station information and station action information. The path station information includes whether the station has a control attribute. If the next target station of the current station has a control attribute, an inquiry request to enter the target station is sent to the scheduling system; a waiting state is entered; if a rejection instruction is received from the scheduling system, the system waits at the current station. By adopting an inquiry mechanism, network-related anomalies are avoided, thereby improving overall operational efficiency.
[0202] The robot scheduling method in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This application embodiment does not impose specific limitations.
[0203] The robot scheduling method in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.
[0204] The robot scheduling method provided in this application embodiment can achieve Figures 1 to 6 Method embodiments or Figures 6 to 8 The various processes implemented in the device embodiment will not be described again here to avoid repetition.
[0205] Example 9
[0206] like Figure 9 As shown, Embodiment 9 of this application also provides an electronic device 900, including a processor 901, a memory 902, and a program or instructions stored in the memory 902 and executable on the processor 901. When the program or instructions are executed by the processor 901, they implement the various processes of the above-described robot scheduling method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.
[0207] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.
[0208] Example 10
[0209] Embodiment 10 of this application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described robot scheduling method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.
[0210] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.
[0211] Example 11
[0212] Embodiment 11 of this application provides another chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described robot scheduling method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.
[0213] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
[0214] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0215] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0216] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
[0217] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.
Claims
1. A robot scheduling method, characterized in that, The method is executed by a scheduling system for scheduling at least one robot; the method includes: A task is issued to the robot, the task including path station information and station action information; wherein, the path station information includes whether the station has a control attribute; Receive inquiries from robots regarding entering target sites with regulated attributes; Determine whether the site is already included in the set of regulated sites; If so, and the robot's trajectory is the same and in the same direction as the robot currently occupying the controlled area to which the target site belongs, then the permission instruction will be sent to the robot that has entered the waiting state; If not, the instruction will be sent to the robot that has entered the waiting state to schedule the robot to enter the target site; Add the target site and sites with the same regulatory attributes as the target site to the set of regulated sites; If it is received that the robot has moved from a station with the same regulatory attributes as the target station to a station without regulatory attributes, then the target station and the stations with the same regulatory attributes as the target station in the robot's path station information are removed from the set of regulatory stations.
2. A robot scheduling method, characterized in that, The method is performed by a robot, which receives scheduling instructions from a scheduling system; the method includes: The system receives a task from the scheduling system, the task including path station information and station action information; wherein, the path station information includes whether the station has a control attribute. Identify whether the received tasks include sites with regulatory attributes; If not, then during the execution of the task, there is no need to send an inquiry request to the scheduling system to enter any station; If the next target site of the current site has a control attribute, then send an inquiry request to the scheduling system to enter the target site; Entering a waiting state; If a permission instruction is received from the scheduling system, proceed to the target station; Identify whether at least one site following the target site has the same regulatory attributes as the target site; If so, move from the target station to at least one subsequent station, and when the next station does not have a control attribute, send a message to the scheduling system to leave the control area; If not, move from the target station to the next station and send a message to the dispatch system indicating that you are leaving the controlled area; If a rejection instruction is received from the scheduling system, wait at the current station.
3. A robot scheduling device, characterized in that, The device is executed by a scheduling system for scheduling at least one robot; the device includes: The task instruction sending module is used to issue tasks to the robot. The tasks include path station information and station action information. The path station information includes whether the station has a control attribute. The query request receiving module is used to receive query requests from the robot to enter a target site with regulated attributes; The site determination module is used to determine whether a site is already included in the controlled site set. If the permission instruction sending module is present and the robot's trajectory is the same and in the same direction as the robot currently occupying the controlled area to which the target site belongs, then the permission instruction is sent to the robot that has entered the waiting state; otherwise, the permission instruction is sent to the robot that has entered the waiting state to schedule the robot to enter the target site. The site addition module is used to add the target site and sites with the same regulatory attributes as the target site to the regulatory site set; The site removal module is used to remove the target site and the sites with the same regulatory attributes as the target site from the regulatory site set if it receives a message that the robot has moved from a site with the same regulatory attributes as the target site to a site without regulatory attributes.
4. A robot scheduling device, characterized in that, The device is operated by a robot, which receives scheduling instructions from a scheduling system; the device includes: The task instruction receiving module is used to receive tasks issued by the scheduling system. The task includes path station information and station action information; wherein, the path station information includes whether the station has control attributes. The site identification module is used to identify whether the received task includes a site with regulatory attributes; If the query request sending module is not included, it is used to ensure that no query request to enter any station is sent to the scheduling system during the execution of the task. The query request sending module is used to send an query request to the scheduling system to enter the target site if the next target site of the current site has a control attribute. The instruction reply waiting module is used to enter a waiting state; The target site entry module is used to enter the target site if it receives a permission instruction from the scheduling system. The regulatory attribute determination module is used to identify whether at least one site following the target site has the same regulatory attribute as the target site; If the first departure information sending module is used, it is used to move from the target station to at least one subsequent station, and when the next station does not have a control attribute, it sends a departure information to the scheduling system. The second departure information sending module, if not, is used to move from the target station to the next station and send departure information to the dispatch system; The instruction receiving and waiting module is used to wait at the current station if a rejection instruction is received from the scheduling system.
5. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the robot scheduling method as described in claim 1 or claim 2.
6. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the robot scheduling method as described in claim 1 or claim 2.