A multi-robot automatic charging scheduling method, system, device and storage medium

Abstract

The application discloses a kind of multi-robot automatic charging scheduling method, system, device and storage medium, method includes: obtaining the first state information of each robot, the charging request of target robot is reported;According to charging request, the second state information of each charging pile is obtained, target charging pile and scheduling instruction are determined;According to scheduling instruction, target robot is charged and scheduled based on target charging pile;Wherein, it further includes: in the preset time after starting charging scheduling, the scheduling feedback of target robot and / or target charging pile is not received, trigger charging scheduling exception alarm, report manual scheduling request.The embodiment of the application realizes the flexible and efficient charging scheduling of multi-robot by the state information of each robot and charging pile;By feedback monitoring to charging scheduling process, the problem in the docking process of charging pile and robot scheduling is confirmed in real time, maintains the operation efficiency of charging scheduling, and can be widely applied in the field of intelligent robot technology.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to a method, system, device, and storage medium for automatic charging scheduling of multiple robots. Background Technology

[0002] As robots become increasingly widely used, they play a crucial role in fields such as delivery, cleaning, and inspection. When robots are working, their energy supply comes entirely from their own batteries. Robots must constantly monitor their battery levels and automatically seek out charging stations when the battery is low. With the widespread adoption of robotics, collaborative operation of multiple robots in the same environment is common. Traditionally, there is a one-to-one correspondence between robots and charging stations, with each robot assigned to a single charging station. However, with advancements in battery technology and reduced robot power consumption, robots equipped with large-capacity batteries can operate continuously for extended periods, requiring only a few hours to charge—approximately half, a third, or even less of their working time. Therefore, this one-to-one correspondence model results in charging stations remaining idle for extended periods, hindering resource utilization. Current automatic charging scheduling methods for multiple robots often rely on a simple, open approach where robots automatically occupy charging stations, lacking a scientifically effective unified scheduling method. This prevents robots that truly need immediate charging from doing so, and hinders timely reporting and notification of docking or charging problems, leading to chaotic charging process management and hindering the improvement of multi-robot operational efficiency. Therefore, achieving efficient multi-robot charging scheduling is a pressing issue that needs to be addressed. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a method, system, device and storage medium for automatic charging scheduling of multiple robots, which can achieve efficient charging scheduling of multiple robots.

[0004] On one hand, embodiments of the present invention provide a multi-robot automatic charging scheduling method, including:

[0005] Obtain the first state information of each robot and report the charging request of the target robot;

[0006] Based on the charging request, the second status information of each charging pile is obtained to determine the target charging pile and the scheduling instruction; wherein, the scheduling instruction includes the charging scheduling instruction and the waiting charging scheduling instruction;

[0007] According to the scheduling instructions, the target robot is scheduled to charge based on the target charging pile;

[0008] The methods also include:

[0009] If no scheduling feedback is received from the target robot and / or the target charging station within the preset time after the start of charging scheduling, a charging scheduling anomaly alarm is triggered, and a manual scheduling request is reported.

[0010] Optionally, the first state information of each robot is obtained, and the charging request of the target robot is reported, including:

[0011] Obtain the first state information of each robot; wherein, the first state information includes the remaining battery power;

[0012] The robot whose remaining battery power is below the first battery power threshold is identified as the target robot, and the first charging request for the target robot is reported.

[0013] Optionally, the first state information of each robot is obtained, and the charging request of the target robot is reported, including:

[0014] Obtain the first state information of each robot; the first state information includes the remaining battery power and the task status.

[0015] The robot whose remaining power is below the second power threshold and whose task status is idle is identified as the target robot, and a second charging request is reported to the target robot.

[0016] Optionally, based on the charging request, the second status information of each charging pile is obtained to determine the target charging pile and scheduling instructions, including:

[0017] Based on the charging request, obtain the usage status of each charging station;

[0018] When there is an idle charging station, identify the idle charging station as the target charging station and send a charging scheduling instruction to the target robot.

[0019] If there are no charging stations that are in use and not available, obtain the remaining charging time of each charging station, determine the charging station with the shortest remaining charging time as the target charging station, and send a waiting charging scheduling instruction to the target robot.

[0020] Optionally, the method further includes:

[0021] When the target robot's remaining battery power is below the third battery power threshold and there are no available charging stations, a manual scheduling request is reported.

[0022] Optionally, according to the scheduling instructions, charging scheduling is performed on the target robot based on the target charging station, including:

[0023] According to the charging scheduling instruction, the location information of the target charging pile is obtained, and the target robot is scheduled to the target charging pile for charging based on the location information;

[0024] Alternatively, based on the waiting charging scheduling instruction, obtain the location information of the target charging pile, determine the waiting location based on the location information, schedule the target robot to arrive at the waiting location to wait for charging, until the target charging pile's usage status changes to idle, and then schedule the target robot to the target charging pile for charging based on the location information.

[0025] Optionally, if no scheduling feedback is received from the target robot and / or the target charging station within a preset time after the start of charging scheduling, a charging scheduling anomaly alarm is triggered, and a manual scheduling request is reported, including:

[0026] When the scheduling instruction is a charging scheduling instruction, if no scheduling feedback is received within the preset time after the start of charging scheduling to change the usage status of the target charging pile to non-idle, a charging scheduling abnormality alarm is triggered, and a manual scheduling request is reported.

[0027] Alternatively, if the scheduling instruction is a waiting charging scheduling instruction, and no scheduling feedback is received from the target robot arriving at the waiting location within the preset time after the charging scheduling begins, a charging scheduling abnormality alarm is triggered, and a manual scheduling request is reported.

[0028] On the other hand, embodiments of the present invention provide a multi-robot automatic charging scheduling system, comprising:

[0029] The first module is used to obtain the first state information of each robot and report the charging request of the target robot.

[0030] The second module is used to obtain the second status information of each charging pile according to the charging request, and to determine the target charging pile and scheduling instructions; wherein, the scheduling instructions include charging scheduling instructions and waiting charging scheduling instructions.

[0031] The third module is used to schedule charging for the target robot based on the target charging pile according to the scheduling instructions.

[0032] The system also includes:

[0033] The fourth module is used to trigger a charging scheduling anomaly alarm and report a manual scheduling request if no scheduling feedback is received from the target robot and / or target charging pile within a preset time after the start of charging scheduling.

[0034] On the other hand, embodiments of the present invention provide a multi-robot automatic charging scheduling device, including a processor and a memory;

[0035] Memory is used to store programs;

[0036] The processor executes the program as described above.

[0037] On the other hand, embodiments of the present invention provide a computer-readable storage medium storing a program that is executed by a processor to implement the method described above.

[0038] This invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium and execute the computer instructions, causing the computer device to perform the aforementioned method.

[0039] This invention first acquires the first state information of each robot and reports the charging request of the target robot. Based on the charging request, it acquires the second state information of each charging pile, determines the target charging pile and scheduling instructions, wherein the scheduling instructions include charging scheduling instructions and waiting-for-charging scheduling instructions. Based on the scheduling instructions, it schedules the charging of the target robot using the target charging pile. The method further includes: if no scheduling feedback is received from the target robot and / or the target charging pile within a preset time after the start of charging scheduling, a charging scheduling anomaly alarm is triggered, and a manual scheduling request is reported. This invention first determines the target robot to be charged based on the state information of each robot, and then determines the charging pile for charging and matches the corresponding scheduling instructions based on the state information of the charging pile, achieving flexible and efficient charging scheduling of multiple robots. Simultaneously, by monitoring the feedback of the charging scheduling process, it confirms in real time any problems that occur during the docking process between the charging pile and the robot scheduling, improving the fault tolerance of the scheduling process and maintaining the operational efficiency of the charging scheduling. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating an automatic charging scheduling method for multiple robots provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram illustrating an application scenario of an automatic charging scheduling method for multiple robots provided in an embodiment of the present invention.

[0043] Figure 3 A schematic diagram of a normal charging process provided in an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the idle charging process provided in an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of a charging scheduling anomaly alarm process provided in an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of another charging scheduling anomaly alarm process provided in an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of the manual scheduling process provided in an embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of the structure of a multi-robot automatic charging scheduling system provided in an embodiment of the present invention;

[0049] Figure 9 This is a schematic diagram of the structure of a multi-robot automatic charging scheduling device provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0051] First, it should be noted that current automatic charging scheduling methods for multiple robots often rely on an open and simple approach where robots automatically occupy available charging stations. This can easily lead to scheduling chaos, preventing robots in urgent need of charging from doing so immediately. Furthermore, robot docking with charging stations is susceptible to environmental factors. When significant changes occur in the surrounding environment, issues such as multiple failed docking attempts or inaccurate / unreliable docking can arise. In such cases, timely intervention from relevant management personnel is necessary to ensure successful charging. Moreover, existing automatic robot charging technology only addresses low-battery situations. When a robot's battery is low, it is idle with no tasks, and the charging station is available, it fails to fully utilize charging station resources to maintain the robot in a healthy, long-term, continuous operating state.

[0052] In view of this, on the one hand, referring to Figure 1 The present invention provides a multi-robot automatic charging scheduling method, comprising:

[0053] S100: Obtain the first state information of each robot and report the charging request of the target robot;

[0054] In some embodiments, first state information of each robot is obtained, including remaining battery power; the robot with remaining battery power below a first battery power threshold is identified as the target robot, and a first charging request for the target robot is reported.

[0055] In other embodiments, first state information of each robot is obtained, including remaining battery power and task status; the robot with remaining battery power below a second battery power threshold and an idle task status is identified as the target robot, and a second charging request is reported to the target robot.

[0056] In some embodiments, the method further includes: when the target robot's remaining battery power is lower than a third battery power threshold and there are no charging stations in an idle state, a manual scheduling request is reported.

[0057] S200: Based on the charging request, obtain the second status information of each charging pile, determine the target charging pile and the scheduling instruction;

[0058] It should be noted that the scheduling instructions include charging scheduling instructions and waiting-to-charge scheduling instructions;

[0059] In some embodiments, the usage status of each charging pile is obtained based on the charging request; when there is an idle charging pile, it is determined as the target charging pile, and a charging scheduling instruction is sent to the target robot; when there is no idle charging pile, the remaining charging time of each charging pile is obtained, the charging pile with the shortest remaining charging time is determined as the target charging pile, and a waiting charging scheduling instruction is sent to the target robot.

[0060] S300: According to the scheduling instructions, perform charging scheduling for the target robot based on the target charging pile;

[0061] In some embodiments, according to a charging scheduling instruction, the location information of the target charging pile is obtained (and the location information of the target robot is also obtained simultaneously), and the target robot is scheduled to the target charging pile for charging based on the location information (including the location information of the target robot and the target charging pile); or, according to a waiting charging scheduling instruction, the location information of the target charging pile is obtained (and the location information of the target robot is also obtained simultaneously), and a waiting location is determined based on the location information (specifically the location information of the target charging pile); the target robot is scheduled to arrive at the waiting location to wait for charging until the usage status of the target charging pile changes to idle, and the target robot is scheduled to the target charging pile for charging based on the location information (including the location information of the target robot and the target charging pile).

[0062] The above methods also include:

[0063] S400: If no scheduling feedback is received from the target robot and / or target charging station within the preset time after the start of charging scheduling, a charging scheduling abnormality alarm is triggered, and a manual scheduling request is reported.

[0064] In some embodiments, when the scheduling instruction is a charging scheduling instruction, if no scheduling feedback indicating that the target charging pile's usage status has changed to non-idle is received within a preset time after the start of charging scheduling, a charging scheduling abnormality alarm is triggered, and a manual scheduling request is reported; or, when the scheduling instruction is a waiting charging scheduling instruction, if no scheduling feedback indicating that the target robot has arrived at the waiting location is received within a preset time after the start of charging scheduling, a charging scheduling abnormality alarm is triggered, and a manual scheduling request is reported.

[0065] Specifically, the purpose of this invention is to provide a multi-robot automatic charging scheduling scheme based on a cloud platform, such as... Figure 2As shown in the illustration, this is an application scenario of an embodiment of the present invention. The charging pile and robot are connected to a cloud platform. When the robot powers on and connects to the network, it uploads its own ID to the cloud platform. Upon receiving the robot's uploaded ID, the cloud platform determines that the robot is online. The robot's battery capacity is associated with its model; the robot model can be identified by its ID, thus automatically associating it with the robot's nominal battery capacity. Battery power information (corresponding to remaining power) and the robot's location information are uploaded in a polling manner at short time intervals. The task list is uploaded immediately upon successful task creation and is also synchronized to the cloud platform promptly upon task completion (corresponding to the task status). The charging pile has a voltage and current detection circuit, which can calculate the remaining charging time based on the charging current and the robot's battery capacity. The charging pile uploads its own usage status (idle or not idle), the calculated remaining charging time (collectively referred to as second status information), and the voltage and current conditions during charging to the cloud platform in real time, serving as one of the bases for cloud platform scheduling. The cloud platform has two modes: automatic and manual scheduling. Automatic scheduling is performed by the cloud platform according to a predetermined scheme, divided into normal charging and idle charging. Normal charging occurs when the robot's battery level drops below 20% (the first battery threshold), automatically sending a normal charging request to the cloud platform (corresponding to the first charging request). When the robot's battery level drops below 10% (the third battery threshold) and urgently needs charging but there is no available charging station, the cloud platform will promptly notify the relevant personnel for manual scheduling. Idle charging occurs when the robot is in a standby state without tasks and its battery level drops below 50% (the second battery threshold), sending an idle charging request to the cloud platform (corresponding to the second charging request). If an available charging station is available at this time, idle charging can be performed to ensure the battery level remains healthy. Upon receiving a charging request, the cloud platform calculates the length of the robot's path to an available charging station based on its current location and schedules the robot to charge based on the nearest available charging station. The designated waiting location for the charging station refers to a temporary parking area manually set near the charging station during robot deployment and mapping. In addition, relevant personnel can temporarily disable automatic scheduling and manually schedule it remotely via a mobile app / mini-program accessing the cloud platform. This greatly increases the flexibility of automatic charging for multiple robots. Furthermore, the charging piles and robots can upload any problems that arise during the docking process to the cloud platform in real time, allowing the cloud platform to notify relevant personnel to handle the issues promptly. This solution can effectively improve the efficiency of automatic charging for multiple robots, making full use of resources and increasing efficiency.

[0066] During operation, the robot and charging station poll and upload first status information (including remaining battery power and task status) and second status information (including usage status; when the usage status is not idle, it also includes remaining charging time). The charging station and robot connect to the cloud platform via WIFI or 4G network. The robot reports its ID identification number, nominal battery capacity, and real-time battery percentage to the cloud platform. The charging station has a built-in voltage and current detection circuit. During charging, it can calculate the remaining charging time based on the charging current and the battery capacity of the robot being charged. It reports the current usage status, voltage and current, remaining charging time, and abnormal alarms during charging to the cloud platform in real time. The remaining charging time will serve as one of the bases for the cloud platform to realize intelligent charging scheduling for multiple robots. If an abnormal voltage or current occurs or an unexpected situation such as a sudden interruption occurs during charging, the cloud platform will promptly notify the relevant personnel for handling.

[0067] In some specific embodiments, reference is made to Figure 3 The specific steps of the normal charging process are as follows: The robot (with a battery level below 20%) sends a normal charging request to the cloud platform; Upon receiving the robot's charging request, the cloud platform checks (based on the usage status uploaded by each charging station) whether there are any idle charging stations; If so, the cloud platform issues a scheduling instruction (charging scheduling instruction) to guide the robot to an idle charging station; otherwise, it polls to confirm whether the robot's battery level is below 10%; If not, it compares the remaining charging time of non-idle charging stations and issues a waiting charging instruction to guide the robot to the non-idle charging station with the shortest remaining charging time to wait for charging; until the battery level drops below 10%, the relevant personnel are notified directly through the cloud platform for manual scheduling.

[0068] In some specific embodiments, reference is made to Figure 4 The specific steps of the idle charging process are as follows: poll to confirm whether the robot's battery level is below 50%; when the robot's battery level is below 50%, further confirm whether the corresponding robot has any tasks to be performed. If so, prioritize the execution of the tasks to be performed; otherwise, send an idle charging request to the cloud platform to further determine whether there are any idle charging piles; if so, issue a scheduling instruction to guide the robot to an idle charging pile for charging; otherwise, the robot directly enters the standby state.

[0069] In some specific embodiments, reference is made to Figure 5The specific steps for a charging scheduling anomaly alarm are as follows: The cloud platform sends a charging instruction (i.e., a charging scheduling instruction) to the robot; it determines whether a report is received within X time (i.e., a preset time) indicating that the designated charging pile (i.e., the target charging pile) is in a non-idle state (corresponding to a scheduling feedback indicating a change in usage status to non-idle); if not, a charging scheduling anomaly alarm is triggered, and the charging instruction is sent to the robot again through the cloud platform; it further determines whether a report is received within X time indicating that the designated charging pile is in a non-idle state; if not, the cloud platform notifies the relevant person in charge to handle the matter (i.e., reports a manual scheduling request); otherwise, charging proceeds normally.

[0070] In some specific embodiments, reference is made to Figure 6 Another specific step for a charging scheduling anomaly alarm is as follows: The cloud platform sends a waiting charging instruction to the robot (i.e., a waiting charging scheduling instruction); it determines whether a report of the robot arriving at the designated waiting location is received within X time (i.e., a preset time) (corresponding to the scheduling feedback of arriving at the waiting location); if not, a charging scheduling anomaly alarm is triggered, and the charging instruction is sent to the robot again through the cloud platform; it further determines whether a report of the robot arriving at the designated waiting location is received within X time; if not, the cloud platform notifies the relevant person in charge to handle the matter (i.e., report a manual scheduling request); otherwise, charging proceeds normally.

[0071] Among them, the charging scheduling anomaly alarm refers to the situation where, after the cloud platform sends a scheduling instruction to a robot requesting charging, if it issues a waiting charging instruction and does not receive a report from the robot that it has arrived at the designated charging waiting position within a set time X (X can be set freely according to the size of the venue and the complexity of the route), or if it issues a charging instruction and does not receive a report from the charging pile that it is not in a non-idle time within a set time X (X is set according to the size of the venue and the complexity of the route), then the scheduling is determined to be abnormal. The cloud platform will resend the scheduling instruction. If the charging scheduling anomaly alarm is still triggered, the relevant person in charge will be notified to handle the situation to avoid the robot that needs charging being unable to charge in time and thus shutting down.

[0072] In some specific embodiments, reference is made to Figure 7 The specific steps of the manual scheduling process are as follows: the relevant person in charge sends a manual scheduling command to the cloud platform via PC / APP / mini-program; then the cloud platform sends the relevant scheduling instructions to the robot.

[0073] The cloud platform's intelligent charging scheduling is divided into automatic and manual scheduling. Automatic scheduling occurs when the cloud platform receives a charging request from the robot and, according to a predetermined strategy, directs the robot to a charging station. Once the robot and charging station successfully connect and enter a charging (non-idle) state, the charging station sends a report to the cloud platform indicating it is in a non-idle state. The robot's charging requests to the cloud platform are categorized as normal charging requests and idle charging requests. Normal charging occurs when the robot's battery level drops below 20%, automatically sending a charging request. If a robot urgently needs charging (battery level below 10%) but no available charging station is available, the cloud platform will promptly notify the relevant personnel for manual scheduling. Idle charging occurs when the robot is in a standby state with no tasks and its battery level is below 50%, sending an idle charging request. If an available charging station is available, idle charging can be performed to ensure the battery remains healthy. Manual charging allows relevant personnel to log in to the cloud platform via PC, APP, or mini-program, disable automatic scheduling, and manually schedule charging based on actual conditions. Manual scheduling also involves the cloud platform issuing corresponding scheduling instructions to the robot.

[0074] This invention integrates robots and charging stations into a cloud platform for unified scheduling and management. It sets up both automatic and manual scheduling modes, fully utilizing charging station resources and enabling flexible, many-to-one scheduling of robots and charging stations. The charging station uses voltage and current detection modules, combined with the robot's nominal capacity, to calculate the remaining charging time, serving as one of the data sources for the cloud platform's intelligent scheduling, resulting in a more rigorous and scientific scheduling strategy. Furthermore, it enables idle-time charging for the robot. When the robot's battery is low and it has no tasks, it sends an idle-time charging request command to the cloud platform, ensuring the robot's battery remains healthy. Simultaneously, it implements charging scheduling anomaly alarms. If, after the cloud platform issues a scheduling command to the robot, it fails to arrive at the designated location to wait for charging or fails to enter a charging (non-idle) state within the specified time, a charging scheduling anomaly alarm is triggered. The cloud platform will promptly notify relevant personnel for timely handling, preventing robots that need charging from shutting down due to scheduling anomalies.

[0075] On the other hand, such as Figure 8As shown, an embodiment of the present invention provides a multi-robot automatic charging scheduling system 500, comprising: a first module 510, used to acquire first status information of each robot and report the charging request of the target robot; a second module 520, used to acquire second status information of each charging pile according to the charging request, and determine the target charging pile and scheduling instructions; wherein, the scheduling instructions include charging scheduling instructions and waiting charging scheduling instructions; a third module 530, used to perform charging scheduling for the target robot based on the target charging pile according to the scheduling instructions; wherein, the system further comprises: a fourth module 540, used to trigger a charging scheduling abnormality alarm and report a manual scheduling request if no scheduling feedback is received from the target robot and / or the target charging pile within a preset time after the start of charging scheduling.

[0076] The content of the method embodiments of the present invention is applicable to the system embodiments. The specific functions implemented in the system embodiments are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above methods.

[0077] like Figure 9 As shown, another aspect of the present invention provides a multi-robot automatic charging scheduling device 600, including a processor 610 and a memory 620.

[0078] Memory 620 is used to store programs;

[0079] The processor 610 executes the program as described above.

[0080] The content of the method embodiments of the present invention is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above methods.

[0081] Another aspect of this invention provides a computer-readable storage medium storing a program that is executed by a processor to implement the method described above.

[0082] The content of the method embodiments of the present invention is applicable to the computer-readable storage medium embodiments. The specific functions implemented by the computer-readable storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above methods.

[0083] This invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium and execute the computer instructions, causing the computer device to perform the aforementioned method.

[0084] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0085] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0086] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0087] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution means, apparatus, or device (such as a computer-based device, a processor-including device, or other means that can fetch and execute instructions from, or in conjunction with, an instruction execution means, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution means, apparatus, or device.

[0088] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0089] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution device. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0090] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0091] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0092] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A multi-robot automatic charging scheduling method, characterized in that, include: Obtain the first state information of each robot and report the charging request of the target robot; Based on the charging request, the second status information of each charging pile is obtained, and the target charging pile and scheduling instructions are determined; wherein, the scheduling instructions include charging scheduling instructions and waiting charging scheduling instructions; According to the scheduling instruction, the target robot is scheduled for charging based on the target charging pile; The method further includes: If no scheduling feedback is received from the target robot and / or the target charging pile within a preset time after the charging scheduling begins, a charging scheduling anomaly alarm is triggered, and a manual scheduling request is reported. The step of obtaining the second status information of each charging pile according to the charging request, and determining the target charging pile and scheduling instructions, includes: Based on the charging request, obtain the usage status of each charging station; When there is an idle charging station, the idle charging station is identified as the target charging station, and a charging scheduling command is sent to the target robot. When there are no charging stations in use that are not available, obtain the remaining charging time of each charging station, determine the charging station with the shortest remaining charging time as the target charging station, and send a waiting charging scheduling instruction to the target robot.

2. The multi-robot automatic charging scheduling method according to claim 1, characterized in that, The step of obtaining the first state information of each robot and reporting the charging request of the target robot includes: Obtain the first state information of each robot; wherein, the first state information includes the remaining battery power; The robot whose remaining power is below a first power threshold is identified as the target robot, and a first charging request is reported to the target robot.

3. The multi-robot automatic charging scheduling method according to claim 1, characterized in that, The step of obtaining the first state information of each robot and reporting the charging request of the target robot includes: Obtain the first state information of each robot; wherein, the first state information includes the remaining battery power and the task status; The robot whose remaining power is below the second power threshold and whose task status is idle is identified as the target robot, and a second charging request is reported to the target robot.

4. The multi-robot automatic charging scheduling method according to claim 1, characterized in that, The method further includes: When the target robot's remaining battery power is below the third battery power threshold and there are no charging stations in an idle state, a manual scheduling request is reported.

5. The multi-robot automatic charging scheduling method according to claim 1, characterized in that, The step of scheduling charging for the target robot based on the target charging pile according to the scheduling instruction includes: According to the charging scheduling instruction, the location information of the target charging pile is obtained, and the target robot is scheduled to the target charging pile for charging based on the location information; Alternatively, according to the waiting charging scheduling instruction, the location information of the target charging pile is obtained, and the waiting location is determined based on the location information; the target robot is scheduled to arrive at the waiting location to wait for charging until the usage status of the target charging pile changes to idle, and the target robot is scheduled to charge at the target charging pile based on the location information.

6. The multi-robot automatic charging scheduling method according to claim 5, characterized in that, If no scheduling feedback is received from the target robot and / or the target charging station within a preset time after the charging scheduling begins, a charging scheduling anomaly alarm is triggered, and a manual scheduling request is reported, including: When the scheduling instruction is a charging scheduling instruction, if no scheduling feedback is received within a preset time after the start of the charging scheduling, indicating that the usage status of the target charging pile has changed to non-idle, a charging scheduling abnormality alarm is triggered, and a manual scheduling request is reported. Alternatively, if the scheduling instruction is a waiting charging scheduling instruction, and no scheduling feedback is received from the target robot arriving at the waiting location within a preset time after the charging scheduling begins, a charging scheduling abnormality alarm is triggered, and a manual scheduling request is reported.

7. A multi-robot automatic charging scheduling system, characterized in that, include: The first module is used to obtain the first state information of each robot and report the charging request of the target robot. The second module is used to obtain the second status information of each charging pile according to the charging request, and determine the target charging pile and scheduling instructions; wherein, the scheduling instructions include charging scheduling instructions and waiting charging scheduling instructions; The third module is used to schedule charging for the target robot based on the target charging pile according to the scheduling instructions. The system also includes: The fourth module is used to trigger a charging scheduling anomaly alarm and report a manual scheduling request if no scheduling feedback is received from the target robot and / or the target charging pile within a preset time after the start of the charging scheduling. The step of obtaining the second status information of each charging pile according to the charging request, and determining the target charging pile and scheduling instructions, includes: Based on the charging request, obtain the usage status of each charging station; When there is an idle charging station, the idle charging station is identified as the target charging station, and a charging scheduling command is sent to the target robot. When there are no charging stations in use that are not available, obtain the remaining charging time of each charging station, determine the charging station with the shortest remaining charging time as the target charging station, and send a waiting charging scheduling instruction to the target robot.

8. A multi-robot automatic charging scheduling device, comprising a processor and a memory; The memory is used to store programs; The processor executes the program to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a program that is executed by a processor to implement the method as described in any one of claims 1 to 6.

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