A method and apparatus for multitasking of a robot

Abstract

The application provides a multi-task execution method and device of a robot, the method is applied to a task scheduling system, and the method comprises the following steps: receiving a to-be-executed task, and determining a target robot corresponding to the to-be-executed task, wherein the to-be-executed task comprises at least two subtasks; determining reference information of the target robot executing a current to-be-executed subtask; determining a predicted execution result corresponding to the target robot executing the current to-be-executed subtask based on the reference information; determining a task execution strategy of the current to-be-executed subtask according to the predicted execution result; and controlling the target robot to execute the to-be-executed task based on the task execution strategy, which can support overall task scheduling and dispatching of the system, more intelligently complete a multi-task execution process, and improve overall task execution efficiency.

Description

Technical Field

[0001] This application relates to the field of warehousing technology, and in particular to a method and apparatus for multi-task execution of a robot. Background Technology

[0002] Robots are automated machines that can run pre-programmed procedures to complete multiple tasks in parallel. In multi-task dispatch management, when goods or containers need to go through multiple processes or be collected from multiple locations, traditional robots follow a pre-set route or sequence, polling each location one by one to complete the task. Some processes take a long time to execute, causing the robot to wait for extended periods before proceeding to the next process. This results in wasted resources and unnecessary time spent by the robot, leading to high costs and low efficiency when robots perform multiple tasks. Summary of the Invention

[0003] In view of this, embodiments of this application provide a multi-task execution method and apparatus for robots to address the technical deficiencies existing in the prior art.

[0004] According to a first aspect of the embodiments of this application, a multi-task execution method for a robot is provided, applied to a task scheduling system, including:

[0005] Receive a task to be executed and determine the target robot corresponding to the task to be executed, wherein the task to be executed includes at least two sub-tasks;

[0006] Determine reference information for the target robot to execute the currently pending sub-task;

[0007] Based on the reference information, the predicted execution result corresponding to the current sub-task to be executed by the target robot is determined;

[0008] Based on the predicted execution results, determine the task execution strategy for the currently pending subtask;

[0009] Based on the task execution strategy, the target robot is controlled to execute the task to be performed.

[0010] According to a second aspect of the embodiments of this application, a multi-task execution device for a robot is provided, applied to a task scheduling system, comprising:

[0011] The task receiving module is configured to receive tasks to be executed and determine the target robot corresponding to the task to be executed, wherein the task to be executed includes at least two sub-tasks;

[0012] The reference information determination module is configured to determine the reference information for the target robot to execute the current sub-task.

[0013] The execution result determination module is configured to determine the predicted execution result corresponding to the current sub-task to be executed by the target robot based on the reference information;

[0014] The execution strategy determination module is configured to determine the task execution strategy of the currently to-be-executed subtask based on the predicted execution result;

[0015] The task execution module is configured to control the target robot to execute the task to be executed based on the task execution strategy.

[0016] According to a third aspect of the present application, a computing device is provided, including a memory, a processor, and computer instructions stored in the memory and executable on the processor, wherein the processor executes the computer instructions to implement the steps of the multitasking method of the robot.

[0017] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided that stores computer instructions, which, when executed by a processor, implement the steps of the multitasking method of the robot.

[0018] The multi-task execution method for robots provided in this application embodiment is applied to a task scheduling system, including: receiving a task to be executed and determining a target robot corresponding to the task to be executed, wherein the task to be executed includes at least two sub-tasks; determining reference information for the target robot to execute the current sub-task to be executed; determining a predicted execution result corresponding to the target robot executing the current sub-task to be executed based on the reference information; determining a task execution strategy for the current sub-task to be executed based on the predicted execution result; and controlling the target robot to execute the task to be executed based on the task execution strategy.

[0019] In this embodiment, by obtaining reference information corresponding to the currently to-be-executed subtask among at least two subtasks executed by the target robot, the execution result of the target robot executing the to-be-executed subtask is predicted, so as to determine the task execution strategy. Then, the target robot is controlled to execute the to-be-executed task according to the task execution strategy. In this way, before executing the subtask, the target robot needs to make logical judgments on the currently assigned to-be-executed subtask based on the reference information, so as to improve the efficiency of the robot in executing the subtask. At the same time, considering various reference information, it can support the overall task scheduling and assignment of the system, and more intelligently complete the execution process of multiple tasks, thereby improving the overall task execution efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the system structure of a robot multi-task execution method provided in an embodiment of this application;

[0021] Figure 2 This is a flowchart of a multi-task execution method for a robot provided in an embodiment of this application;

[0022] Figure 3 This is a flowchart illustrating a multi-task execution method for a robot provided in an embodiment of this application;

[0023] Figure 4 This is a flowchart illustrating a multi-task execution method for a robot provided in another embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the structure of a multi-task execution device for a robot according to an embodiment of this application;

[0025] Figure 6 This is a structural block diagram of a computing device provided in one embodiment of this application. Detailed Implementation

[0026] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0027] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0028] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0029] First, the terms and concepts involved in one or more embodiments of this application will be explained.

[0030] Robot Task Scheduling System: It has core functions such as robot status management, navigation task planning, remote behavior control, real-time monitoring, historical video playback, real-time alarm and handling, intelligent data analysis, patrol report management and system parameter setting.

[0031] In multi-task dispatching management of robots, when goods or containers need to go through multiple process tasks or collect goods from multiple locations, traditional automated conveying equipment polls each location sequentially according to a pre-set route or sequence. For example, when goods need to pass through multiple different workstations to complete different process tasks before being sorted, stored, or transported; or when an order container needs to retrieve different goods from different picking locations; all tasks are edited into a task sequence and then executed sequentially. To complete a connected overall task, automated conveying equipment links all possible task nodes sequentially, making it impossible to detour when executing sub-tasks, resulting in wasted resources and unnecessary time consumption. For example, if a loop can support n task points, and a task only needs to complete m (m < n) sub-task nodes, the task container still needs to traverse n task points on the loop, resulting in low overall efficiency.

[0032] Based on this, the multi-task execution method for robots provided in this application embodiment allows the robot to assign and schedule tasks according to the task scheduling system when all sub-tasks are non-necessarily related sequential tasks. After each sub-task is completed, the system continues to select the optimal sub-task from the remaining sub-tasks for assignment according to the task assignment strategy. The system adjusts the assignment results in real time according to the current robot position and task status to cope with business changes. The system schedules the robot to dynamically plan new sorting task execution routes, thereby achieving optimal overall efficiency.

[0033] This application provides a method and apparatus for multitasking of a robot, which will be described in detail in the following embodiments.

[0034] Figure 1 A schematic diagram of the system structure of a robot multi-task execution method according to an embodiment of this application is shown, wherein, Figure 1 (a) in the text can be understood as the robot assigning and completing multiple sub-tasks according to the order of the multiple tasks when performing them. Figure 1 (b) can be understood as the robot needing to make multiple logical judgments before executing each subtask, which can ensure that the time and resource costs of executing each subtask are low, and improve the efficiency of multitasking.

[0035] In practical implementation, when determining the multiple tasks to be executed by the robot, the task scheduling system can first determine the execution order of each sub-task in the multiple tasks. For example, if the execution order is 2-3-5-6-8-9-11 (the numbers represent workstation identifiers), it can be understood that the robot first reaches workstation 2 to complete the first sub-task, then reaches workstation 3 to complete the second sub-task, and so on. Based on this, the robot needs to complete the previous sub-task before it can continue to run to the next workstation and continue to execute the subsequent sub-tasks.

[0036] Furthermore, as the complexity of task execution between sub-tasks increases and the current robot's scenario contains multiple robots, the robot will experience waiting time when performing multiple tasks, such as waiting in the running route or in a waiting area near the workstation. In order to reduce the robot's ineffective waiting time and waste of resources, this embodiment can provide a multi-task execution method for robots, which can flexibly adjust the execution strategy between robots performing multiple sub-tasks.

[0037] In practical applications, with Figure 1 Taking (b) as an example, after the robot finishes executing at workstation 2, it should proceed to workstation 3 to execute the next subtask according to the normal execution order. However, before executing the next subtask, the task scheduling system can obtain reference information about the subtask to be executed at workstation 3, and determine the predicted execution result of the robot executing the subtask based on the reference information. The reference information includes, but is not limited to, workstation reference information associated with workstation 3, route reference information, and task allocation reference information. Furthermore, the task scheduling system can determine the predicted execution result of the robot based on the reference information, and determine the task execution strategy for the robot to execute the subtask at workstation 3 based on the predicted execution result. Finally, it determines whether to proceed to workstation 3 to execute the subtask based on the task execution strategy. Figure 1 As shown in (b), after the subtask is completed at workstation 2, the task scheduling system schedules the robot to workstation 6 to execute the corresponding subtask after the above logic judgment. Subsequently, the robot is scheduled to workstation 5 to execute the corresponding subtask, and so on, until workstations 3-11-9-8 are completed.

[0038] Based on this, through Figure 1 The subtask execution method in (b) ensures that the robot has less waiting time when executing each subtask, saving resource costs compared to... Figure 1 In the (a) assignment method, the efficiency of multi-task execution is also relatively improved.

[0039] Figure 2This is a flowchart of a multi-task execution method for a robot according to an embodiment of this application, which specifically includes the following steps:

[0040] It should be noted that the multi-task execution method for robots provided in this application embodiment can be applied to a task scheduling system. The task scheduling system performs logical judgments on the robot's completion of each sub-task and determines the robot's execution strategy based on the results of the logical judgments, so as to complete the task scheduling of the robot to execute multiple sub-tasks.

[0041] Step 202: Receive the task to be executed and determine the target robot corresponding to the task to be executed, wherein the task to be executed includes at least two sub-tasks.

[0042] The task to be executed can be understood as the target task that the robot's task scheduling system controls the robot to perform. The specific type of task is not limited in this embodiment, such as goods picking task, equipment maintenance task, etc.

[0043] In practical applications, the task scheduling system can receive tasks to be executed and determine the target robot corresponding to the task to be executed. It should be noted that the task to be executed mentioned in this embodiment refers to a task consisting of at least two sub-tasks, which the robot needs to complete in sequence.

[0044] It should be emphasized that the task scheduling system can not only schedule one robot to complete the task to be executed, but also schedule at least two robots to complete the task to be executed together. For ease of understanding, the embodiments of this application all take scheduling one target robot as an example to explain the execution of at least two sub-tasks. The scheduling method of other target robots can refer to the method described in this embodiment, and will not be elaborated on in detail.

[0045] Step 204: Determine the reference information for the target robot to execute the current sub-task to be executed.

[0046] The currently pending subtask can be understood as the subtask that the target robot needs to execute, such as the subtask that the target robot needs to execute at workstation 1, including but not limited to picking up or delivering items at workstation 1.

[0047] In practical applications, the task scheduling system can determine the reference information corresponding to the target robot's execution of the currently pending sub-task. This reference information can be understood as information related to scheduling the target robot to execute the sub-task, and it can have multiple dimensions, including one, two, or more reference information. This embodiment does not impose specific limitations on this. It should be noted that the task scheduling system can comprehensively determine a strategy based on the reference information to determine whether the robot needs to execute the currently pending sub-task, thereby improving the target robot's efficiency in handling multiple tasks. This will be described in detail later.

[0048] Furthermore, before determining the reference information for the target robot to execute the currently pending subtask, the method further includes:

[0049] Obtain the initial execution order of the at least two subtasks;

[0050] Based on the initial execution order and the subtask completion information of the task to be executed, the current subtask to be executed for the target robot is determined.

[0051] In practical applications, the tasks to be executed received by the task scheduling system may also include the task execution order of at least two subtasks. For example, the robot executes subtask 1-subtask 2-subtask 3. Then, the system can determine the subtask that the target robot needs to execute at present based on the task execution order and the current subtask completion information. For example, if it is determined that subtask 1 has been completed, the target robot can determine that the current subtask to be executed is subtask 2 based on the task execution order.

[0052] Furthermore, the reference information for determining the target robot to execute the currently pending subtask includes:

[0053] Determine the associated information for the currently pending subtask;

[0054] Based on the associated information, reference information is determined for the target robot to execute the currently pending sub-task.

[0055] Among them, the associated information can be understood as all information related to the current subtask to be executed, including but not limited to workstation information, workstation task allocation information, business information, task execution difficulty information, expected execution time, robot running route, etc.

[0056] In practical applications, after determining the current subtask to be executed, the task scheduling system can determine all the associated information corresponding to the current subtask to be executed, and based on all the associated information, determine the reference information corresponding to the target robot's execution of the current subtask to be executed. The reference information can be understood as information that affects the robot's operation scheduling. Continuing with the previous example, if the current subtask to be executed is determined to be subtask 2, the reference information can be determined as the task scheduling information that affects the robot's execution of subtask 2.

[0057] Based on this, in one embodiment provided by this application, for ease of understanding, the reference information determined by the task scheduling system is illustrated by the following example: the reference information includes at least two of the following: workstation reference information, running route reference information, and task allocation reference information. Specifically, workstation reference information can be understood as information associated with the workstation executing each sub-task; running route reference information can be understood as reference information about the running route of the target robot to the workstation corresponding to the sub-task; and task allocation reference information can be understood as allocation information for tasks to be executed in the workstation, or allocation information for the robot's remaining tasks, etc. In practical applications, the task scheduling system can schedule and assign tasks based on the overall task situation, considering the global route situation, task allocation balance, etc., to complete the robot scheduling process. Therefore, the reference information in this embodiment may include multi-dimensional reference information, such as at least two of the following: workstation reference information, running route reference information, and task allocation reference information. It should be noted that the reference information mentioned in this embodiment is only an example, and may also include other reference information affecting robot scheduling and operation under different business scenarios, which will not be elaborated upon here.

[0058] Step 206: Based on the reference information, determine the predicted execution result corresponding to the current sub-task to be executed by the target robot.

[0059] The predicted execution result can be understood as the result of the task scheduling system predicting the target robot's execution of the currently pending sub-task. This result includes, but is not limited to, the predicted execution time of the sub-task, the predicted waiting time, and the robot's power consumption.

[0060] In practical applications, the task scheduling system predicts the execution result of the target robot by using the reference information corresponding to the currently executed subtask. For example, the predicted execution time of the target robot executing the subtask is 2 minutes, the waiting time is 20 seconds, and the robot consumes 2% of the battery. Based on this, the task scheduling system can easily determine the execution cost of the target robot executing subtask 2 based on the predicted execution result, so as to judge the robot's execution efficiency, etc.

[0061] One implementation method provided in this application involves determining reference information as workstation reference information based on the workstation information corresponding to the currently pending sub-task, in order to predict the result of the target robot executing the currently pending sub-task under the influence of the workstation reference information; specifically, determining the reference information for the target robot to execute the currently pending sub-task based on the associated information includes:

[0062] If the associated information is determined to be workstation information, the reference information for the target robot to execute the current sub-task to be executed is determined to be workstation reference information.

[0063] In practical applications, task scheduling systems can determine the reference information for the target robot to execute the current sub-task by identifying the information type or content of the associated information. If the associated information is determined to be workstation information based on the information type or content, the workstation reference information that affects the execution result of the target robot's current sub-task can be identified from the workstation information. It should be noted that the scope of workstation information is larger than that of workstation reference information, and some workstation information will not affect the target robot's execution of the sub-task.

[0064] Furthermore, the task scheduling system can determine the workstation corresponding to the currently pending sub-task through workstation information, and then predict the execution result of the target robot based on the workstation reference information; specifically, determining the predicted execution result of the target robot executing the currently pending sub-task based on the reference information includes:

[0065] Based on the workstation information, the target workstation corresponding to the current sub-task to be executed by the target robot is determined;

[0066] Based on the workstation reference information, the predicted execution result corresponding to the current subtask to be executed by the target robot is determined, wherein the workstation reference information includes the distance information between the target robot and the target workstation, and the idle status information of the target workstation.

[0067] In practical applications, the task scheduling system can determine the target workstation corresponding to the current sub-task to be executed by the target robot based on workstation information. For example, it can determine that the target workstation corresponding to the execution of sub-task 2 is target workstation 3. Furthermore, the task scheduling system predicts the execution result of the target robot by determining information such as the distance between the target robot and the target workstation, and the idle status of the target workstation. Using the previous example, the task scheduling system can predict the execution result of the target robot executing sub-task 3. That is, if the distance between the current location of the target robot and the location of target workstation 3 is determined to be 5m, and the idle status of target workstation 3 is relatively idle, allowing it to execute the sub-task at any time, then the task scheduling system can predict the execution result of the target robot running to target workstation 3 to complete sub-task 2, i.e., the total task execution time is 1 minute, the waiting time is 0 seconds, and the power consumption is 1%. It should be noted that the type of predicted execution result is not limited in this embodiment and may include other information, such as a route running time of 10 seconds.

[0068] Based on this, the method provided in this embodiment can predict the corresponding costs (time costs, resource costs, etc.) of the robot executing the sub-task by taking into account the distance information between the current workstation and the robot, the busy status of the workstation, etc. This makes it easier to schedule the robot to run accordingly based on the predicted cost information, thereby improving the robot's efficiency in executing sub-tasks.

[0069] Another implementation provided in this application involves determining reference information as route reference information based on the running route information corresponding to the currently to-be-executed subtask, in order to predict the impact of the route reference information on the target robot's execution of the currently to-be-executed subtask and the resulting outcome. Specifically, determining the reference information for the target robot to execute the currently to-be-executed subtask based on the associated information includes:

[0070] If the associated information is determined to be route information, the reference information for the target robot to execute the current sub-task to be executed is determined to be route reference information.

[0071] It should be noted that when the task scheduling system determines that the associated information for the subtask to be executed is the running route information, the factors influencing the scheduling of the target robot to execute the subtask are mainly based on the route reference information. This facilitates the selection of a relatively idle task route to execute subsequent subtasks based on the running route conditions.

[0072] Furthermore, in addition to considering the workstation reference information in the above embodiments, the task scheduling system can also consider the route running from the target robot to the target workstation to predict the execution result of the target robot executing the current sub-task; specifically, determining the predicted execution result of the target robot executing the current sub-task based on the reference information includes:

[0073] The target workstation corresponding to the currently pending subtask is determined by the target robot.

[0074] Obtain the route taken by the target robot from its current position to the target workstation;

[0075] Based on the running status of the running route, the predicted execution result corresponding to the current sub-task to be executed by the target robot is determined, wherein the running status includes the running route idle status and the running route selection weight.

[0076] In practical applications, the task scheduling system can first determine the route from the target robot's current location to the target workstation. It should be noted that the route provided in this embodiment may include multiple routes. By determining the running status of each route, the system predicts the execution result of the target robot for the currently pending sub-task. Continuing with the previous example, the task scheduling system determines that the target robot has two routes from its current location to the target workstation 3: route 1 and route 2. The running status of each route can then be obtained. This running status may include the route's availability and the route selection weight. For example, if route 1 has a 30% availability rate and route 2 has a 70% availability rate, the task scheduling system can determine that the target robot will run along route 2 to the target workstation 3 and complete the corresponding sub-task 2, i.e., the total task execution time is 2 minutes, the travel waiting time is 20 seconds, and the power consumption is 3%. Furthermore, when selecting the target robot's route, the selection weights of all sub-task routes can be calculated and then sorted for selection to support real-time route adjustments.

[0077] Based on this, the method provided in this embodiment predicts the execution cost of the target robot to perform the sub-task by determining the route of the target robot to the target workstation. This allows the task scheduling system to schedule the target robot at any time, realize dynamic planning of new task execution routes, and improve work efficiency.

[0078] Another implementation provided in this application is to determine reference information as task allocation reference information based on the task information corresponding to the currently pending sub-task, so as to predict the result of the target robot executing the currently pending sub-task under the influence of the task allocation reference information; specifically, the step of determining the reference information for the target robot to execute the currently pending sub-task based on the association information includes:

[0079] If the associated information is determined to be information about a task to be executed, the reference information for the target robot to execute the current sub-task to be executed is determined to be the task allocation reference information.

[0080] The information on tasks to be executed can be understood as information on other sub-tasks waiting to be executed in the workstation. For example, there are 2 sub-tasks to be executed in workstation 1 and 3 sub-tasks to be executed in workstation 2. In this embodiment, the sub-tasks to be executed in each workstation can be determined according to different application scenarios.

[0081] In practical applications, the task scheduling system can also take into account the current task distribution balance among various workstations. For example, if subtask 2 can be completed on both workstation 3 and workstation 4, then the pending tasks on each workstation need to be considered to ensure that the number of pending tasks on each workstation is balanced. That is, the number of pending subtasks on workstation 3 is less than the number of pending subtasks on workstation 4. In this case, the target robot can be scheduled to run to workstation 3 to execute subtask 2, thereby reducing the target robot's ineffective waiting time and avoiding waste of resources.

[0082] Furthermore, the task scheduling system can also consider the association information of remaining subtasks to clarify the degree of association between the remaining subtasks and the currently pending subtask. Based on the degree of association, the personnel allocation information for each workstation can be determined, thereby predicting the execution result. Specifically, determining the predicted execution result corresponding to the target robot executing the currently pending subtask based on the reference information includes:

[0083] Determine the associated subtasks related to the currently pending subtask, and the associated workstations corresponding to the associated subtasks;

[0084] Obtain the first task allocation information of the target workstation corresponding to the currently pending subtask, and obtain the second task allocation information of the associated workstation;

[0085] Based on the first task allocation information and the second task allocation information, the predicted execution result corresponding to the target robot executing the currently pending sub-task is determined, wherein the task allocation information includes the number of sub-tasks waiting to be executed allocated in the workstation.

[0086] In this context, associated subtasks can be understood as subtasks that are related to the currently executed subtask. For example, in a picking order task, after picking a top, the associated subtask could be pants that match the top. The degree of association in this embodiment can include any type of business association, and this embodiment does not limit it.

[0087] The first task allocation information and the second task allocation information have the same meaning; both can be understood as the number of subtasks currently assigned to the workstation that are waiting to be executed.

[0088] In practical applications, the task scheduling system can identify associated subtasks related to the currently pending subtask and the associated workstations corresponding to the execution of these associated subtasks. It can also obtain the first task allocation information for the target workstation corresponding to the currently pending subtask, and the second task allocation information for the associated workstation. Furthermore, based on the task allocation information of the two workstations, the task scheduling system can determine the predicted execution result of the target robot executing the currently pending subtask. This predicted execution result includes the degree of correlation between the target robot's ability to directly reach the associated workstation to execute the associated subtask after executing the currently pending subtask at the target workstation. This correlation can be understood as the continuity of the journey between the two workstations to execute the associated subtask. If the target robot does not engage in unnecessary waiting between the execution of the two subtasks, the route is short, and the power consumption is low, then the continuity between the associated subtasks is high, and the cost of the current predicted execution result is low.

[0089] Based on this, the method provided in this embodiment determines whether the related subtasks can be executed at a lower cost by identifying the associated subtasks that the target robot is executing the currently pending subtask, and then referring to the task allocation quantity of the workstation corresponding to the associated subtasks, thereby improving the execution efficiency of each subtask.

[0090] It should be noted that in the above embodiments, the description is based on the influence of one type of reference information on the task scheduling of the target robot. However, in the embodiments of this application, when deciding whether to execute the current sub-task, the task scheduling system may also comprehensively consider any two or three types of reference information, such as workstation reference information, route reference information, and task allocation reference information, to predict the execution result of the target robot. The process of predicting the execution result based on multi-dimensional reference information in this embodiment is not specifically limited here, and the execution process of the above embodiments can be referred to.

[0091] Step 208: Determine the task execution strategy for the currently pending subtask based on the predicted execution result.

[0092] The task execution strategy can be understood as the strategy for whether the target robot should execute the currently pending sub-task. In some embodiments, the execution of the currently pending sub-task by the target robot may cause the target robot to wait for a long time, which may be due to factors such as the running route or the busy workstation. Therefore, it is necessary to determine whether to execute the currently pending sub-task immediately.

[0093] In practical applications, task scheduling strategies can measure the cost of executing the current sub-task based on the predicted execution results, including but not limited to time cost and resource cost, and thus clarify the task execution strategy for the target robot to execute the current sub-task, achieving dynamic planning of the sub-task to be executed.

[0094] Further, determining the task execution strategy for the currently pending subtask based on the predicted execution result includes:

[0095] If the predicted execution result meets the preset execution conditions, the task execution strategy for the currently pending subtask is determined to be to continue executing the currently pending subtask.

[0096] If the predicted execution result does not meet the preset execution conditions, the task execution strategy for the current sub-task to be executed is determined to be to suspend the execution of the current sub-task to be executed, and the target sub-task to be executed for the target robot is determined.

[0097] Among them, the preset execution conditions can be understood as the cost conditions for executing the current sub-task to be executed determined by different application scenarios. For example, the waiting time of the robot on the way cannot exceed the preset time threshold, the waiting time of the robot at the workstation to execute the sub-task cannot exceed the preset time threshold, the power consumed in executing the current sub-task to be executed cannot exceed the preset threshold, etc. In this embodiment, no limitation is made on the setting of cost conditions.

[0098] In practical applications, the task scheduling system can quantify the cost of the target robot executing the current sub-task. Based on the quantified value, it can determine whether the predicted execution result meets the preset execution conditions, and then determine the task execution strategy corresponding to the current sub-task. Specifically, if the predicted execution result meets the preset execution conditions, that is, the task execution cost is low, then the target robot can be controlled to continue executing the current sub-task. If the predicted execution result does not meet the preset execution conditions, that is, the task execution cost is high, then the target robot can be controlled to pause the execution of the current sub-task, so as to determine the target robot's target sub-task.

[0099] Furthermore, determining the target sub-task to be executed by the target robot includes:

[0100] In the initial execution order of the at least two subtasks, determine the task order identifier of the currently to-be-executed subtask;

[0101] Based on the task sequence identifier, the target sub-task to be executed by the target robot is determined, wherein the target sub-task to be executed is the next sub-task to be executed by the target robot.

[0102] In practical applications, after the task scheduling system determines to pause the execution of the current subtask to be executed, it can determine the task order identifier of the current subtask to be executed based on the initial execution order of at least two subtasks. For example, if the task order identifier of the current subtask to be executed 2 is 2, then the next subtask to be executed for the target robot can be determined in the initial execution order as the subtask corresponding to the task order identifier 3, which is the target subtask to be executed.

[0103] Furthermore, in the method provided in this embodiment, after the task scheduling system suspends the execution of the sub-tasks to be executed, the initial execution order can be adjusted to determine the target execution order of the target robot for executing multiple tasks, so as to facilitate the subsequent execution of the sub-tasks to be executed according to the target execution order; specifically, after determining the target sub-tasks to be executed for the target robot, the method further includes:

[0104] Based on the target subtasks to be executed, the initial execution order is adjusted to obtain the target execution order corresponding to the at least two subtasks.

[0105] Continuing with the previous example, after the task scheduling system pauses the execution of subtask 2, and determines that the target subtask to be executed is subtask 3, the initial execution order of subtask 1-subtask 2 can be adjusted to subtask 1-subtask 3; subsequently, the adjusted subtask order is determined as the target execution order. Based on this, when the cost of determining the execution order of each currently pending subtask is high, other pending subtasks can be dynamically selected by performing adjustment steps to improve the overall efficiency of the operation.

[0106] Step 210: Based on the task execution strategy, control the target robot to execute the task to be executed.

[0107] Furthermore, in practical applications, the target robot is controlled to execute various sub-tasks according to a determined task execution strategy; specifically, controlling the target robot to execute the task to be executed based on the task execution strategy includes:

[0108] Based on the target execution order, control the target robot to execute the task to be executed.

[0109] In practice, the task scheduling system can control the target robot to execute each sub-task according to the target execution order that is adjusted at any time, so as to achieve more intelligent completion of the tasks to be executed, improve the overall operation efficiency, and also increase the flexibility to deal with real-time changes in business.

[0110] Based on this, in the multi-task execution method of the robot provided in this application embodiment, before executing each sub-task, the robot needs to make a logical judgment on whether to execute the current sub-task, and predict the execution result of the current sub-task based on reference information (multi-dimensional reference factors); then, determine the task execution strategy (execute the current sub-task or execute the next sub-task); by judging the strategy for executing each sub-task, the target robot is controlled to execute multiple tasks.

[0111] For example, the tasks to be executed are: Subtask 1 - Subtask 2 - Subtask 3; the main steps are as follows:

[0112] Step 1: When the scheduling system controls the target robot to execute subtask 1, it needs to consider multiple dimensions of reference information, such as the busy status of the workstation corresponding to subtask 1, the distance of the route to the workstation, whether the route is busy and requires waiting, the balance of task allocation among the operators of the workstation, and the degree of correlation with the remaining subtasks.

[0113] Step 2: Predict the result of the current target robot performing subtask 1 (calculate the task execution cost, such as time cost, human or machine resource cost).

[0114] Step 3: Determine the task execution strategy:

[0115] (1) If the cost of executing subtask 1 meets certain conditions, the target robot can be controlled to execute subtask 1.

[0116] (2) If the cost of executing subtask 1 does not meet certain conditions, the target robot can be controlled to execute the next subtask 2 or 3.

[0117] Similarly, each currently executing subtask undergoes logical judgment according to the above logic in order to execute multiple tasks.

[0118] In summary, the multi-task execution method for robots provided in this application utilizes the characteristic that each robot is an independent individual, supports the task set bound to each robot, and through the overall scheduling and assignment of the system, the system considers the global road conditions, task congestion, task balance and overall efficiency optimization at each station, etc., and can support scenarios such as temporary task changes or priority changes, so as to achieve more intelligent completion of related tasks, improve overall work efficiency, and increase the flexibility to cope with real-time changes in business.

[0119] See Figure 3 , Figure 3 This is a flowchart illustrating a multi-task execution method for a robot provided in an embodiment of this application.

[0120] Figure 3 Taking the sorting robot performing the sorting task of goods as an example, each sorting robot carrying goods is an independent individual, which is bound to the order task (goods information) it carries, so as to obtain all the tasks that the goods need to complete.

[0121] In practical implementation, when the sorting robot carries the order task corresponding to the order system, it needs to complete the sorting of the picking positions of the goods involved in the order. The sorting robot carries the order box and binds the order task, and determines the picking workstations it needs to pass through according to the goods required by the order. For example, the picking task of pants can be completed in workstation 2, the picking task of coats can be completed in workstation 4, and the picking task of shorts can be completed in workstation 7. Furthermore, the sorting robot can determine whether to execute sub-task 1 (shorts picking task) according to the preset initial execution order. Then, it can first predict the execution result of sub-task 1 to determine whether it is necessary to execute sub-task 1 at the current time. If the execution cost of sub-task 1 is high, such as the robot waiting time is long, then it can choose to execute sub-task 2 (coat picking task) first. Then, the sorting robot can run to workstation 4 to complete sub-task 2. Furthermore, when each picking task is completed, the system calculates the status and position of the next picking workstation and assigns the sorting robot to execute the next sub-task according to a certain logic.

[0122] It should be noted that this is a scenario where goods need to go through several workstations to complete relevant organization or inspection work before being sorted by category; multiple workstations with the same attributes can exist. When the system completes a sub-task, it selects the optimal workstation from the workstation group for the next task and assigns the task to the robot. For example, the task assignment logic may be based on proximity, idle status, relevance to remaining tasks, or balance of operator tasks. The robot completes multiple sub-tasks according to the system's scheduling.

[0123] See Figure 4 , Figure 4 This is a flowchart illustrating a multi-task execution method for a robot provided in another embodiment of this application.

[0124] Figure 4Taking the example of a robot transporting goods to different repair points to complete multiple repair tasks, the robot can perform repairs on the goods through multiple processes before they can be delivered to a store for sale. Similarly, a task scheduling system can control the robot to run at different repair points. When it is determined that there is no necessary correlation between the repair sub-tasks at each repair point, the task scheduling system can assign and schedule the sub-tasks. It should be noted that the task assignment logic can be based on several factors: prioritizing tasks with relatively low availability at repair points based on their status; prioritizing tasks with relatively low availability on routes that are currently available based on the busy status of all task routes; assigning tasks based on the optimal overall route order for all sub-tasks, calculating the selection weights of all sub-task routes, sorting them overall, and making adjustments in real time after each sub-task is completed; assigning tasks based on their relevance, selecting related tasks for group assignment; and assigning tasks based on business requirements, while also considering flexible strategies.

[0125] Based on this, such as Figure 4 As shown, the maintenance process can be maintenance point 7 - maintenance point 5 - maintenance point 6 - maintenance point 3 - maintenance point 1. Furthermore, if the task scheduling system determines that the robot's waiting time at maintenance point 5 is too long, it can determine the execution time of the next sub-task. If this execution time is less than the waiting time, the system controls the robot to execute the next sub-task before returning to maintenance point 5 to continue execution. If the task scheduling system finds other robots available, it can also schedule new robots to go to maintenance point 5 to continue execution. In this case, the task scheduling system can comprehensively schedule all robots to execute each sub-task; this embodiment does not limit this. Furthermore, according to the task assignment strategy, the system continues to select the optimal sub-task from the remaining sub-tasks for assignment. The system adjusts the assignment results in real time based on the current robot position and task status to respond to business changes. The system dynamically plans new sorting task execution routes for the robots, thereby achieving optimal overall efficiency.

[0126] Corresponding to the above method embodiments, this application also provides embodiments of a multi-task execution device for a robot. Figure 5 A schematic diagram of the structure of a multi-task execution device for a robot according to an embodiment of this application is shown. Figure 5 As shown, this device is applied to a task scheduling system and includes:

[0127] The task receiving module 502 is configured to receive a task to be executed and determine the target robot corresponding to the task to be executed, wherein the task to be executed includes at least two sub-tasks;

[0128] The reference information determination module 504 is configured to determine the reference information for the target robot to execute the current sub-task to be executed;

[0129] The execution result determination module 506 is configured to determine the predicted execution result corresponding to the current sub-task to be executed by the target robot based on the reference information;

[0130] The execution strategy determination module 508 is configured to determine the task execution strategy of the currently to be executed subtask based on the predicted execution result;

[0131] The task execution module 510 is configured to control the target robot to execute the task to be executed based on the task execution strategy.

[0132] Optionally, the device further includes:

[0133] The subtask determination module is configured to obtain the initial execution order of the at least two subtasks;

[0134] Based on the initial execution order and the subtask completion information of the task to be executed, the current subtask to be executed for the target robot is determined.

[0135] Optionally, the reference information determining module 504 is further configured to:

[0136] Determine the associated information for the currently pending subtask;

[0137] Based on the associated information, reference information is determined for the target robot to execute the currently pending sub-task.

[0138] Optionally, the reference information determining module 504 is further configured to:

[0139] If the associated information is determined to be workstation information, the reference information for the target robot to execute the current sub-task to be executed is determined to be workstation reference information.

[0140] Optionally, the execution result determination module 506 is further configured to:

[0141] Based on the workstation information, the target workstation corresponding to the current sub-task to be executed by the target robot is determined;

[0142] Based on the workstation reference information, the predicted execution result corresponding to the current subtask to be executed by the target robot is determined, wherein the workstation reference information includes the distance information between the target robot and the target workstation, and the idle status information of the target workstation.

[0143] Optionally, the reference information determining module 504 is further configured to:

[0144] If the associated information is determined to be route information, the reference information for the target robot to execute the current sub-task to be executed is determined to be route reference information.

[0145] Optionally, the execution result determination module 506 is further configured to:

[0146] The target workstation corresponding to the currently pending subtask is determined by the target robot.

[0147] Obtain the route taken by the target robot from its current position to the target workstation;

[0148] Based on the running status of the running route, the predicted execution result corresponding to the current sub-task to be executed by the target robot is determined, wherein the running status includes the running route idle status and the running route selection weight.

[0149] Optionally, the reference information determining module 504 is further configured to:

[0150] If the associated information is determined to be information about a task to be executed, the reference information for the target robot to execute the current sub-task to be executed is determined to be the task allocation reference information.

[0151] Optionally, the execution result determination module 506 is further configured to:

[0152] Determine the associated subtasks related to the currently pending subtask, and the associated workstations corresponding to the associated subtasks;

[0153] Obtain the first task allocation information of the target workstation corresponding to the currently pending subtask, and obtain the second task allocation information of the associated workstation;

[0154] Based on the first task allocation information and the second task allocation information, the predicted execution result corresponding to the target robot executing the currently pending sub-task is determined, wherein the task allocation information includes the number of sub-tasks waiting to be executed allocated in the workstation.

[0155] Optionally, the execution strategy determination module 508 is further configured to:

[0156] If the predicted execution result meets the preset execution conditions, the task execution strategy for the currently pending subtask is determined to be to continue executing the currently pending subtask.

[0157] If the predicted execution result does not meet the preset execution conditions, the task execution strategy for the current sub-task to be executed is determined to be to suspend the execution of the current sub-task to be executed, and the target sub-task to be executed for the target robot is determined.

[0158] Optionally, the execution strategy determination module 508 is further configured to:

[0159] In the initial execution order of the at least two subtasks, determine the task order identifier of the currently to-be-executed subtask;

[0160] Based on the task sequence identifier, the target sub-task to be executed by the target robot is determined, wherein the target sub-task to be executed is the next sub-task to be executed by the target robot.

[0161] Optionally, the device further includes:

[0162] The sequence determination module is configured to adjust the initial execution order based on the target subtasks to be executed, so as to obtain the target execution order corresponding to the at least two subtasks;

[0163] Optionally, the task execution module 510 is further configured to:

[0164] Based on the target execution order, control the target robot to execute the task to be executed.

[0165] Optionally, the reference information includes at least two of the following: workstation reference information, route reference information, and task allocation reference information.

[0166] The multi-task execution device for robots provided in this application obtains reference information corresponding to the currently to-be-executed sub-task among at least two sub-tasks executed by the target robot, predicts the execution result of the target robot executing the to-be-executed sub-task, so as to determine the task execution strategy, and then controls the target robot to execute the to-be-executed task according to the task execution strategy. In this way, before executing the sub-task, the target robot needs to make logical judgments on the currently assigned sub-task based on the reference information to improve the efficiency of the robot in executing the sub-task. At the same time, considering various types of reference information, it can support the overall task scheduling and assignment of the system, complete the multi-task execution process more intelligently, and improve the overall task execution efficiency.

[0167] The above is a schematic scheme of a robot multi-task execution device according to this embodiment. It should be noted that the technical solution of this robot multi-task execution device and the technical solution of the robot multi-task execution method described above belong to the same concept. For details not described in detail in the technical solution of the robot multi-task execution device, please refer to the description of the technical solution of the robot multi-task execution method described above.

[0168] Figure 6 A structural block diagram of a computing device 600 according to an embodiment of this application is shown. The components of the computing device 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and a database 650 is used to store data.

[0169] The computing device 600 also includes an access device 640, which enables the computing device 600 to communicate via one or more networks 660. Examples of these networks include a Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 640 may include one or more of any type of wired or wireless network interface (e.g., a Network Interface Card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) interface, a Wi-MAX interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0170] In one embodiment of this application, the aforementioned components of the computing device 600 and Figure 6 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 6 The block diagram of the computing device shown is for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can add or replace other components as needed.

[0171] The computing device 600 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or PCs. The computing device 600 can also be a mobile or stationary server.

[0172] The processor 620 executes the computer instructions to implement the multi-task execution method of the robot.

[0173] The above is an illustrative scheme of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the robot's multi-task execution method described above belong to the same concept. For details not described in detail in the technical solution of the computing device, please refer to the description of the technical solution of the robot's multi-task execution method described above.

[0174] An embodiment of this application also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the steps of the multitasking method for a robot as described above.

[0175] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium belongs to the same concept as the technical solution of the robot's multi-task execution method described above. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the robot's multi-task execution method described above.

[0176] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0177] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0178] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0179] The preferred embodiments disclosed above are merely illustrative of this application. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this application. These embodiments are selected and specifically described in this application to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A method for multi-task execution of a robot, characterized in that, Applications in task scheduling systems include: Receive a task to be executed and determine the target robot corresponding to the task to be executed, wherein the task to be executed includes at least two sub-tasks; Determine reference information for the target robot to execute the currently pending subtask, wherein the reference information includes workstation reference information, running route reference information, or task allocation reference information; Based on the reference information, the associated subtasks and the task allocation quantity of the associated workstations corresponding to the current subtask to be executed are determined. Based on the associated subtasks and the task allocation quantity, the predicted execution result of the target robot executing the current subtask to be executed is determined. Based on the predicted execution result, the task execution strategy of the current subtask to be executed is determined, including: if it is determined that the predicted execution result does not meet the preset execution conditions, the task execution strategy of the current subtask to be executed is to suspend the execution of the current subtask to be executed, and based on the target subtask to be executed, the initial execution order of the at least two subtasks is adjusted to obtain the target execution order, wherein the preset execution conditions are the cost conditions for executing the current subtask to be executed determined by different application scenarios, and the target subtask to be executed is the next subtask to be executed by the target robot; Based on the target execution order, control the target robot to execute the task to be executed.

2. The method according to claim 1, characterized in that, Before determining the reference information for the target robot to execute the currently pending sub-task, the method further includes: Obtain the initial execution order of the at least two subtasks; Based on the initial execution order and the subtask completion information of the task to be executed, the current subtask to be executed for the target robot is determined.

3. The method according to claim 1, characterized in that, The reference information for determining the target robot to execute the currently pending sub-task includes: Determine the associated information for the currently pending subtask; Based on the associated information, reference information is determined for the target robot to execute the currently pending sub-task.

4. The method according to claim 3, characterized in that, The step of determining the reference information for the target robot to execute the currently pending sub-task based on the association information includes: If the associated information is determined to be workstation information, the reference information for the target robot to execute the current sub-task to be executed is determined to be workstation reference information.

5. The method according to claim 4, characterized in that, The step of determining, based on the reference information, the associated subtasks related to the current subtask to be executed and the task allocation quantity of the associated workstations corresponding to the associated subtasks, and determining the predicted execution result of the target robot executing the current subtask to be executed based on the associated subtasks and the task allocation quantity, includes: Based on the workstation information, the target workstation corresponding to the current sub-task to be executed by the target robot is determined; Based on the workstation reference information, the predicted execution result corresponding to the current subtask to be executed by the target robot is determined, wherein the workstation reference information includes the distance information between the target robot and the target workstation, and the idle status information of the target workstation.

6. The method according to claim 3, characterized in that, The step of determining the reference information for the target robot to execute the currently pending sub-task based on the association information includes: If the associated information is determined to be route information, the reference information for the target robot to execute the current sub-task to be executed is determined to be route reference information.

7. The method according to claim 6, characterized in that, The step of determining the predicted execution result corresponding to the current sub-task to be executed by the target robot based on the reference information includes: The target workstation corresponding to the currently pending subtask is determined by the target robot. Obtain the route taken by the target robot from its current position to the target workstation; Based on the running status of the running route, the predicted execution result corresponding to the current sub-task to be executed by the target robot is determined, wherein the running status includes the running route idle status and the running route selection weight.

8. The method according to claim 3, characterized in that, The step of determining the reference information for the target robot to execute the currently pending sub-task based on the association information includes: If the associated information is determined to be information about a task to be executed, the reference information for the target robot to execute the current sub-task to be executed is determined to be the task allocation reference information.

9. The method according to claim 8, characterized in that, The step of determining the predicted execution result corresponding to the current sub-task to be executed by the target robot based on the reference information includes: Determine the associated subtasks related to the currently pending subtask, and the associated workstations corresponding to the associated subtasks; Obtain the first task allocation information of the target workstation corresponding to the currently pending subtask, and obtain the second task allocation information of the associated workstation; Based on the first task allocation information and the second task allocation information, the predicted execution result corresponding to the target robot executing the currently pending sub-task is determined, wherein the task allocation information includes the number of sub-tasks waiting to be executed allocated in the workstation.

10. The method according to any one of claims 1-9, characterized in that, Also includes: If the predicted execution result meets the preset execution conditions, the task execution strategy for the currently pending subtask is determined to be to continue executing the currently pending subtask.

11. The method according to claim 1, characterized in that, Also includes: In the initial execution order of the at least two subtasks, determine the task order identifier of the currently to-be-executed subtask; Based on the task sequence identifier, the target sub-task to be executed by the target robot is determined, wherein the target sub-task to be executed is the next sub-task to be executed by the target robot.

12. The method according to claim 1, characterized in that, The reference information includes at least two of the following: workstation reference information, route reference information, and task allocation reference information.

13. A multi-task execution device for a robot, characterized in that, Applications in task scheduling systems include: The task receiving module is configured to receive tasks to be executed and determine the target robot corresponding to the task to be executed, wherein the task to be executed includes at least two sub-tasks; The reference information determination module is configured to determine the reference information for the target robot to execute the current sub-task to be executed, wherein the reference information includes workstation reference information, running route reference information, or task allocation reference information; The execution result determination module is configured to determine, based on the reference information, the associated subtasks associated with the current subtask to be executed and the task allocation number of the associated workstations corresponding to the associated subtasks, and to determine the predicted execution result of the target robot executing the current subtask to be executed based on the associated subtasks and the task allocation number; The execution strategy determination module is configured to determine the task execution strategy of the currently to-be-executed subtask based on the predicted execution result, including: if it is determined that the predicted execution result does not meet the preset execution conditions, determining that the task execution strategy of the currently to-be-executed subtask is to suspend the execution of the currently to-be-executed subtask, and adjusting the initial execution order of the at least two subtasks based on the target to-be-executed subtask to obtain the target execution order, wherein the preset execution conditions are cost conditions for executing the currently to-be-executed subtask determined by different application scenarios, and the target to-be-executed subtask is the next subtask to be executed by the target robot; The task execution module is configured to control the target robot to execute the task to be executed based on the target execution order.

14. A computing device, comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, characterized in that, When the processor executes the computer instructions, it implements the steps of the method according to any one of claims 1-12.

15. A computer-readable storage medium storing computer instructions, characterized in that, When executed by a processor, the computer instructions implement the steps of the method according to any one of claims 1-12.

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