Cluster scheduling method and system for service robots

Abstract

The application discloses a kind of cluster scheduling method and system of service robot, wherein, based on the same communication to multiple service robots is instructed to work, and the position and work content of multiple service robots are dispatched, wherein, multiple service robots are grouped according to work content, and multiple service robots are cluster scheduled according to work position;Establish the main auxiliary relationship of each group of service robots, wherein, the service robot in auxiliary system is controlled by the service robot in main system, and receives the control instruction of the service robot in main system;The work content of the group is worked by the service robot in main system, and the position of the service robot in auxiliary system is dispatched, wherein, the service robot in auxiliary system follows the service robot in main system or is dispatched according to the position signal transmitted by the service robot in main system.

Description

Technical Field

[0001] This invention relates to the field of service robot technology, and in particular to a cluster scheduling method and system for service robots. Background Technology

[0002] With the development of technology, service robots are applied in industry or people's lives. There are multiple service robots, and multiple service robots can be assigned work functions in the same work space and perform corresponding work according to different work content. At this time, multiple service robots are in a parallel relationship in terms of functions, which makes it inconvenient to perform cluster scheduling of multiple robots in the same area. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a cluster scheduling method and system for service robots. Multiple service robots are in an associated state and their positions are adjusted according to their working positions, so that multiple service robots can perform position scheduling based on their own positions and working positions, thereby controlling multiple service robots to perform cluster scheduling. In addition, a master-slave relationship is established for each group of service robots. The service robot in the master system performs the work of the group and performs position scheduling for the service robots in the slave system. At this time, the service robot in the master system is associated with multiple service robots in the slave system and performs position scheduling for the service robots in the slave system, thereby realizing the scheduling of multiple service robots in the slave system by the service robot in the master system, and making full use of multiple robots in the same area for cluster scheduling, so as to better process the work of the area.

[0004] To address the aforementioned technical problems, this invention provides a cluster scheduling method for service robots, comprising: associating the communications of multiple service robots and obtaining the locations of the multiple service robots;

[0005] The same communication is used to give work instructions to multiple service robots and to schedule the location and work content of multiple service robots. The multiple service robots are grouped according to their work content and scheduled in clusters according to their work location.

[0006] Establish a master-slave relationship for each group of service robots, where the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system.

[0007] The service robot in the main system performs the work of the group and performs position scheduling for the service robots in the auxiliary system. The service robots in the auxiliary system follow the service robots in the main system or perform position scheduling based on the position signals transmitted by the service robots in the main system.

[0008] Locate any service robot in the main system, and based on the location of the service robot in the main system, traverse the surrounding service robots in the auxiliary system.

[0009] If a service robot in the auxiliary system is idle, then the service robot in the main system is associated with the service robot in the auxiliary system, so that the service robot in the main system is associated with multiple service robots in the auxiliary system, and the service robot in the auxiliary system is scheduled for location.

[0010] In addition, this embodiment of the invention also provides a cluster scheduling system for service robots, the cluster scheduling system for service robots including: an association module: used to associate the communication of multiple service robots and obtain the location of multiple service robots;

[0011] Grouping module: Used to give work instructions to multiple service robots based on the same communication, and to schedule the location and work content of multiple service robots. The multiple service robots are grouped according to their work content, and the multiple service robots are clustered and scheduled according to their work location.

[0012] Relationship module: Used to establish a master-slave relationship for each group of service robots. The service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system.

[0013] The first scheduling module is used for the service robots in the main system to perform the work of the group and to perform position scheduling for the service robots in the auxiliary system. The service robots in the auxiliary system follow the service robots in the main system or perform position scheduling based on the position signals transmitted by the service robots in the main system.

[0014] Positioning module: used to locate any service robot in the main system and to traverse the surrounding service robots in the auxiliary system based on the location of the service robot in the main system.

[0015] The second scheduling module is used to associate a service robot in the main system with a service robot in the auxiliary system if the service robot in the auxiliary system is idle, so that the service robot in the main system is associated with multiple service robots in the auxiliary system, and to perform position scheduling for the service robots in the auxiliary system.

[0016] In this embodiment of the invention, the method involves associating the communication of multiple service robots to obtain their locations; issuing work instructions to the multiple service robots based on the same communication, and scheduling their locations and work content. The multiple service robots are grouped according to their work content and clustered according to their work locations. All service robots are in an associated state and their positions are adjusted accordingly for each work location, enabling them to perform location scheduling based on their own locations and work locations, thereby controlling the clustered scheduling of multiple service robots. Furthermore, a master-slave relationship is established for each group of service robots, where the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system. The service robot in the master system performs work content management for its group. The system performs work and performs position scheduling for service robots in the auxiliary system. These auxiliary system service robots follow service robots in the main system or perform position scheduling based on position signals transmitted by the main system service robots. It locates any service robot in the main system and traverses the surrounding auxiliary system service robots based on the main system service robot's position. If an auxiliary system service robot is idle, it associates the main system service robot with that auxiliary system service robot, enabling the main system service robot to associate with multiple auxiliary system service robots and perform position scheduling for the auxiliary system service robots. This allows the main system service robot to schedule multiple auxiliary system service robots, and fully utilizes multiple robots in the same area for cluster scheduling, better handling of the work content in that area. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0018] Figure 1 This is a flowchart illustrating the cluster scheduling method for service robots in an embodiment of the present invention.

[0019] Figure 2 yes Figure 1 A flowchart of the S11 process;

[0020] Figure 3 yes Figure 1 A flowchart of the S12 process;

[0021] Figure 4 yes Figure 1 Flowchart of S13;

[0022] Figure 5 yes Figure 1 Flowchart of S14 in China;

[0023] Figure 6 yes Figure 1 A flowchart of the S15 process;

[0024] Figure 7 yes Figure 1 Flowchart of S16 in China;

[0025] Figure 8 This is a schematic diagram of the structural composition of the service robot cluster scheduling system in an embodiment of the present invention;

[0026] Figure 9 This is a hardware diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example

[0029] Please see Figures 1 to 7 A method for cluster scheduling of service robots, the method comprising:

[0030] S11: Connect the communication of multiple service robots and obtain the location of multiple service robots;

[0031] This involves communication between multiple service robots to facilitate interaction within the same communication area, and further allocation of tasks based on the locations of the multiple service robots.

[0032] In the specific implementation of this invention, the specific steps can be as follows:

[0033] S111: Obtain the location of multiple service robots and confirm that multiple service robots are in the same communication area;

[0034] S112: Connecting the communication of multiple service robots and enabling the interaction of multiple service robots;

[0035] S113: Obtain the locations of multiple service robots.

[0036] The positioning of multiple service robots can be determined based on their own GPS, and it can be confirmed that multiple service robots are in the same communication area, so that multiple service robots can communicate in the same communication area, thereby linking the communication of multiple service robots and enabling them to interact, improving the interaction performance between multiple service robots, and further allocating work based on the location of multiple service robots, so as to meet the function of service robots providing services nearby.

[0037] S12: Based on the same communication, give work instructions to multiple service robots and schedule the location and work content of multiple service robots. Among them, multiple service robots are grouped according to work content and multiple service robots are clustered and scheduled according to work location.

[0038] In this process, multiple service robots are instructed in the same communication and given work instructions based on the same communication, so that multiple service robots can perform corresponding work under the corresponding work instructions. This allows the location and work content of multiple service robots to be scheduled, ensuring the service performance of multiple service robots.

[0039] In the specific implementation of this invention, the specific steps can be as follows:

[0040] S121: Acquire communication signals from multiple service robots;

[0041] S122: Based on the transmission of multiple communication signals in the same communication channel, wherein the communication channel is the communication channel of multiple service robots in the same area;

[0042] S123: Obtain the instruction signal and, based on the instruction signal, give work instructions to multiple service robots on the same communication channel;

[0043] S124: Analyze the indicator signal and output the corresponding working content;

[0044] S125: Assign tasks to multiple service robots and schedule the locations and tasks of the multiple service robots, wherein the multiple service robots are grouped according to the tasks.

[0045] In this system, the communication signals of multiple service robots are transmitted in the same communication area and in the same communication channel to ensure stable transmission of the communication signals. The communication channel is a communication channel for multiple service robots in the same area, so that the communication signals of multiple service robots can be transmitted in the communication channel, thus ensuring the stability of the signals or indications.

[0046] In addition, the system acquires instruction signals and provides work instructions to multiple service robots on the same communication channel based on the instruction signals; it parses the instruction signals and outputs the work content corresponding to the instruction signals; it assigns the work content to multiple service robots and schedules the positions and work content of multiple service robots, wherein the multiple service robots are grouped according to the work content.

[0047] At this point, the work content is obtained for grouping multiple service robots; the work content is divided into modules, forming multiple content modules, each containing different work areas and work items; nearby service robots are selected for each work area, and the corresponding work items are recorded for that service robot. At this point, multiple service robots are initially grouped according to work areas, and then grouped according to the work content within the same work area. The service robots are grouped using multiple parameters, mainly based on work areas and work content, forming a grouping system with work area as the primary factor and work content as the secondary factor.

[0048] For example, mobile cleaning in area A corresponds to service robot A1 working; mobile monitoring in area B corresponds to service robot B1 working, and so on.

[0049] In addition, the system triggers the work of service robots, schedules the locations and tasks of multiple service robots, records the corresponding work progress, assigns multiple service robots according to their tasks, drives multiple service robots to their corresponding work locations, and monitors the work progress during the work process.

[0050] S13: Establish a master-slave relationship for each group of service robots, wherein the service robot in the slave system is controlled by the service robot in the master system and receives control instructions from the service robot in the master system.

[0051] Specifically, the functional relationships of each group of service robots are adjusted, and these adjustments trigger the master-slave relationships within each group. This ensures that service robots in the slave system are controlled by the service robots in the master system and receive control commands from the master system, thus establishing a control system led by the master system service robot within each group. Furthermore, multiple service robots are in an associated state, and their positions are adjusted accordingly based on their work locations. This allows for location scheduling based on their own positions and work locations, thereby controlling the cluster scheduling of multiple service robots.

[0052] In the specific implementation of this invention, the specific steps can be as follows:

[0053] S131: Obtain each group of service robots, wherein each group of service robots contains at least two service robots;

[0054] S132: In each group of service robots, obtain the work content of each service robot, and evaluate the workload of each service robot and the number of interactions between each service robot;

[0055] S133: Establish a master-slave relationship for each group of service robots. At this time, the service robot in the master system is determined based on the number of interactions and workload, and the remaining service robots are service robots in the auxiliary system.

[0056] S134: Associate each service robot in the main system with a service robot in the auxiliary system, and the service robots in the auxiliary systems are controlled by the service robots in the main system.

[0057] S135: The service robot in the auxiliary system receives control instructions from the service robot in the main system and is subject to the monitoring and scheduling of work progress by the service robot in the main system.

[0058] The process involves initial grouping of multiple service robots based on their work areas, followed by work grouping based on the content of their tasks within the same work area. This grouping is achieved through multiple parameters, primarily work area and work content, forming a grouping system with work area as the primary factor and work content as the secondary factor. Furthermore, the functional relationships within each group of service robots are adjusted, and these adjustments trigger the primary-secondary relationships within each group, ensuring that service robots in the secondary system are controlled by those in the primary system.

[0059] At this point, each group of service robots is acquired, with each group containing at least two service robots. Within each group, the work content of each service robot is obtained, and the workload of each service robot and the number of interactions between them are evaluated. Based on the workload and interaction frequency of each service robot, a master-slave relationship is established for each group of service robots. A preliminary evaluation is then conducted based on the interaction frequency to determine the interaction frequency of each service robot. The service robot with the higher interaction frequency is then designated as the master robot in the system, thereby coordinating the other service robots.

[0060] In this process, the primary and secondary relationships of each group of service robots are established by considering the workload of each service robot and the number of interactions between them. At this point, the service robot in the primary system is determined based on the number of interactions and the workload, while the remaining service robots are in the secondary system.

[0061] S14: The service robot in the main system performs the work of the group and performs position scheduling for the service robot in the auxiliary system. The service robot in the auxiliary system follows the service robot in the main system or performs position scheduling according to the position signal transmitted by the service robot in the main system.

[0062] In this system, the service robot in the main system acts as the superior of the group of service robots and assigns tasks to the service robots in the auxiliary system. At this time, the service robot in the main system performs the tasks of the group and performs location scheduling for the service robots in the auxiliary system, so that multiple service robots in the auxiliary system can cooperate under the control of the service robot in the main system.

[0063] In the specific implementation of this invention, the specific steps can be as follows:

[0064] S141: The service robot in the main system performs the work of the group and coordinates multiple service robots in the auxiliary system.

[0065] S142: Multiple service robots in the auxiliary system are scheduled according to the location corresponding to the work content;

[0066] S143: In response to multiple service robots in auxiliary systems following a service robot in the main system, monitor the interaction of multiple service robots in auxiliary systems when the service robot in the main system is in working state.

[0067] S144: Work progress is monitored based on the interaction of multiple service robots in the auxiliary system, and the position signals transmitted by the service robots in the main system are used to schedule the positions of the service robots in the auxiliary systems.

[0068] When the service robot in the main system is in working condition, it controls the service robot in the auxiliary system and breaks down the work content of the group into multiple different modules. This makes it easier to assign the work content of different modules to the corresponding service robots in the auxiliary system, thereby regulating the work of the service robots in the auxiliary system.

[0069] Specifically, multiple service robots in the auxiliary system are positioned according to the location corresponding to the work content, so as to adjust the positions of the multiple service robots in the auxiliary system and enable them to perform corresponding tasks. At this time, the multiple service robots in the auxiliary system follow the service robot in the main system. When the service robot in the main system is in working state, the interaction of the multiple service robots in the auxiliary system is monitored to ensure that the multiple service robots in the auxiliary system do not conflict when working, and the work progress and work content of the multiple service robots in the auxiliary system can be controlled as a whole. Thus, a control system is formed in each group of service robots, so that the service robot in the main system can manage and control the service robots in the auxiliary system when it is in working state.

[0070] In addition, service robots in auxiliary systems follow service robots in the main system or perform position scheduling based on position signals transmitted by service robots in the main system; locate any service robot in the main system, and traverse the surrounding service robots in auxiliary systems based on the position of the service robot in the main system. If a service robot in an auxiliary system is idle, associate the service robot in the main system with that service robot in the auxiliary system, so that the service robot in the main system is associated with multiple service robots in the auxiliary system, and perform position scheduling on the service robots in the auxiliary system. This enables the service robot in the main system to schedule multiple service robots in the auxiliary system, and makes full use of multiple robots in the same area for cluster scheduling, so as to better process the work content in that area.

[0071] S15: Locate any service robot in the main system, and traverse the surrounding service robots in the auxiliary system based on the location of the service robot in the main system.

[0072] In this process, any service robot in the main system is located, and service robots in the auxiliary system are associated with the service robots in the main system. This allows the auxiliary system service robots to be controlled to assist the main system service robots in their work, and location-based traversal effectively meets the need for nearby assistance.

[0073] In the specific implementation of this invention, the specific steps can be as follows:

[0074] S151: Obtain the positioning signal of any service robot in the main system;

[0075] S152: Determine the current position of the service robot in the main system based on the positioning signal;

[0076] S153: Using the current position of the service robot in the main system as the center, traverse the service robots in the auxiliary system around the preset diameter.

[0077] S154: If a service robot in the auxiliary system receives a response from a service robot in the main system, then monitor the distance between the service robot in the auxiliary system and the service robot in the main system.

[0078] S155: A navigation path is formed based on the distance, the position of the service robot in the auxiliary system, and the position of the service robot in the main system;

[0079] S156: Optimize the navigation path to a straight line and avoid obstacles.

[0080] In the specific implementation of this invention, the current position of the service robot in the main system is determined based on the positioning signal, and the service robots in the auxiliary system in the surrounding area are traversed according to the current position of the service robot in the main system. At this time, the service robots in the auxiliary system in the surrounding area are traversed within a preset diameter with the current position of the service robot in the main system as the center, thereby realizing the overall control of the service robots in the main system and the service robots in the auxiliary system in the surrounding area.

[0081] In addition, when the service robot in the auxiliary system receives a response from the service robot in the main system, the distance between the service robot in the auxiliary system and the service robot in the main system is monitored. In order to enable the service robot in the auxiliary system to assist the service robot in the main system, a navigation path is formed based on the distance, the position of the service robot in the auxiliary system, and the position of the service robot in the main system. This allows the service robot in the auxiliary system to find the service robot in the main system along the navigation path. The navigation path can be a straight path. During the movement of the service robot in the auxiliary system, the navigation path is optimized for straight lines, reducing the curved parts, and obstacles are avoided based on the sensing of obstacles.

[0082] S16: If there is a service robot in the auxiliary system that is idle, then associate the service robot in the main system with the service robot in the auxiliary system, so that the service robot in the main system is associated with multiple service robots in the auxiliary system, and perform position scheduling on the service robot in the auxiliary system.

[0083] In the specific implementation of this invention, the specific steps can be as follows:

[0084] S161: When the service robot in the main system is in working state, iterate through the states of the service robots in the auxiliary system.

[0085] S162: If a service robot in the auxiliary system is idle, then associate the service robot in the main system with the service robot in the auxiliary system.

[0086] S163: Based on the service robot in the main system, perform location scheduling for the service robot in the idle state, and specify the work content of the service robot in the idle state at that location.

[0087] In the specific implementation of this invention, when the service robot in the main system is in working state, the states of the service robots in the auxiliary system are traversed to confirm their states. If a service robot in the auxiliary system is idle, the service robot in the main system is associated with that service robot in the auxiliary system, thereby making full use of the service robots in the auxiliary system, accelerating the overall work progress. Furthermore, based on the service robots in the main system, the idle service robots are scheduled for location, and the work content of the idle service robots at that location is specified, so as to reduce the workload of the service robots in the main system and improve the overall work efficiency.

[0088] In this embodiment of the invention, the method involves associating the communication of multiple service robots to obtain their locations; issuing work instructions to the multiple service robots based on the same communication, and scheduling their locations and work content. The multiple service robots are grouped according to their work content and clustered according to their work locations. All service robots are in an associated state and their positions are adjusted accordingly for each work location, enabling them to perform location scheduling based on their own locations and work locations, thereby controlling the clustered scheduling of multiple service robots. Furthermore, a master-slave relationship is established for each group of service robots, where the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system. The service robot in the master system performs work content management for its group. The system performs work and performs position scheduling for service robots in the auxiliary system. These auxiliary system service robots follow service robots in the main system or perform position scheduling based on position signals transmitted by the main system service robots. It locates any service robot in the main system and traverses the surrounding auxiliary system service robots based on the main system service robot's position. If an auxiliary system service robot is idle, it associates the main system service robot with that auxiliary system service robot, enabling the main system service robot to associate with multiple auxiliary system service robots and perform position scheduling for the auxiliary system service robots. This allows the main system service robot to schedule multiple auxiliary system service robots, and fully utilizes multiple robots in the same area for cluster scheduling, better handling of the work content in that area.

[0089] Example

[0090] Please see Figure 8 , Figure 8 This is a schematic diagram of the structural composition of the service robot cluster scheduling system in an embodiment of the present invention.

[0091] like Figure 8 As shown, a cluster scheduling system for service robots includes:

[0092] Association module 21: Used to associate the communication of multiple service robots and obtain the location of multiple service robots;

[0093] Grouping module 22: used to give work instructions to multiple service robots based on the same communication, and to schedule the location and work content of multiple service robots. The multiple service robots are grouped according to their work content, and the multiple service robots are clustered and scheduled according to their work location.

[0094] Relationship Module 23: Used to establish a master-slave relationship for each group of service robots, wherein the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system.

[0095] First scheduling module 24: Used for the service robot in the main system to perform the work of the group, and to perform position scheduling for the service robot in the auxiliary system, wherein the service robot in the auxiliary system follows the service robot in the main system or performs position scheduling according to the position signal transmitted by the service robot in the main system.

[0096] Positioning module 25: used to locate any service robot in the main system and to traverse the surrounding service robots in the auxiliary system based on the position of the service robot in the main system.

[0097] The second scheduling module 26 is used to associate a service robot in the main system with a service robot in the auxiliary system if a service robot in the auxiliary system is idle, so that a service robot in the main system is associated with multiple service robots in the auxiliary system, and to perform position scheduling for the service robots in the auxiliary system.

[0098] This invention provides a cluster scheduling method and system for service robots. It associates the communication of multiple service robots to obtain their locations; it issues work instructions to the multiple service robots based on the same communication, and schedules their locations and work tasks. The multiple service robots are grouped according to their work tasks and clustered according to their work positions. All service robots are in an associated state and their positions are adjusted accordingly for each work position, enabling them to schedule themselves based on their own locations and work positions, thereby controlling the cluster scheduling of multiple service robots. Furthermore, a master-slave relationship is established for each group of service robots, where the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system. The service robot in the master system performs work tasks for the group... The system performs tasks and performs position scheduling for service robots in the auxiliary system. These auxiliary system service robots either follow the service robots in the main system or perform position scheduling based on position signals transmitted by the service robots in the main system. It locates any service robot in the main system and traverses the surrounding auxiliary system service robots based on the main system service robot's position. If an auxiliary system service robot is idle, it associates the main system service robot with that auxiliary system service robot, enabling the main system service robot to associate with multiple auxiliary system service robots and perform position scheduling for the auxiliary system service robots. This allows the main system service robot to schedule multiple auxiliary system service robots, and fully utilizes multiple robots in the same area for cluster scheduling, better handling of the work content in that area.

[0099] Example

[0100] Please see Figure 9 See below for reference. Figure 9 To describe an electronic device 40 according to this embodiment of the present invention. Figure 9 The electronic device 40 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0101] like Figure 9 As shown, the electronic device 40 is manifested in the form of a general-purpose computing device. The components of the electronic device 40 may include, but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including storage unit 42 and processing unit 41).

[0102] The storage unit stores program code, which can be executed by the processing unit 41 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0103] Storage unit 42 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 421 and / or cache memory 422, and may further include a read-only memory (ROM) 423.

[0104] Storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0105] Bus 43 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the multiple bus structures.

[0106] Electronic device 40 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 40, and / or with any device that enables electronic device 40 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed through input / output (I / O) interface 44. Furthermore, electronic device 40 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 45. Figure 9 As shown, network adapter 45 communicates with other modules of electronic device 40 via bus 43. It should be understood that, although... Figure 9 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup avoidance systems.

[0107] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0108] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. Furthermore, it stores computer program instructions, which, when executed by a computer, cause the computer to perform the methods described above.

[0109] Furthermore, the service robot cluster scheduling method and system provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for cluster scheduling of service robots, characterized in that, include: Connect the communication of multiple service robots and obtain the location of multiple service robots; The same communication is used to give work instructions to multiple service robots and to schedule the location and work content of multiple service robots. The multiple service robots are grouped according to their work content and scheduled in clusters according to their work location. Establish a master-slave relationship for each group of service robots, where the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system. The service robot in the main system performs the tasks assigned to the group and performs position scheduling for the service robots in the auxiliary systems. The service robots in the auxiliary systems either follow the service robot in the main system or perform position scheduling based on position signals transmitted by the service robot in the main system. This includes: the service robot in the main system performing the tasks assigned to the group and coordinating multiple service robots in the auxiliary systems; multiple service robots in the auxiliary systems performing position scheduling based on the positions corresponding to the tasks; responding to multiple service robots in the auxiliary systems following the service robot in the main system; monitoring the interactions between the multiple service robots in the auxiliary systems while the service robot in the main system is in operation; monitoring the work progress based on the interactions between the multiple service robots in the auxiliary systems; and performing position scheduling for the service robots in the auxiliary systems based on position signals transmitted by the service robot in the main system. Locate any service robot in the main system, and based on the location of the service robot in the main system, traverse the surrounding service robots in the auxiliary system. If a service robot in the auxiliary system is idle, then the service robot in the main system is associated with the service robot in the auxiliary system, so that the service robot in the main system is associated with multiple service robots in the auxiliary system, and the service robot in the auxiliary system is scheduled for location.

2. The cluster scheduling method for service robots according to claim 1, characterized in that, The method of issuing work instructions to multiple service robots based on the same communication, and scheduling the locations and work content of multiple service robots, wherein the multiple service robots are grouped according to their work content, and the multiple service robots are clustered and scheduled according to their work locations, includes: Acquire communication signals from multiple service robots; Based on the transmission of multiple communication signals in the same communication channel, where the communication channel is the communication channel of multiple service robots in the same area; Acquire instruction signals and, based on these signals, issue work instructions to multiple service robots on the same communication channel; Analyze the indicator signal and output the corresponding work content; The tasks are assigned to multiple service robots, and the locations and tasks of these robots are scheduled. The service robots are grouped according to their tasks.

3. The cluster scheduling method for service robots according to claim 2, characterized in that, The multiple service robots are grouped according to their work content, including: Obtain job information; The work content is divided into modules, forming multiple content modules. At this point, each content module contains different work areas and work items. For each work area, select nearby service robots and respond to the service robot by recording the corresponding work tasks. At this point, perform initial grouping of multiple service robots according to the work area, and further group multiple service robots according to the work content within the same work area. Trigger the work of service robots, schedule the locations and tasks of multiple service robots, and record the corresponding work progress.

4. The cluster scheduling method for service robots according to claim 3, characterized in that, The establishment of a master-slave relationship for each group of service robots, wherein the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system, including: Obtain each group of service robots, wherein each group of service robots contains at least two service robots; In each group of service robots, the work content of each service robot is obtained, and the workload of each service robot and the number of interactions between each service robot are evaluated. Establish a master-slave relationship for each group of service robots. At this point, the service robot in the master system is determined based on the number of interactions and workload, while the remaining service robots are in the slave system.

5. The cluster scheduling method for service robots according to claim 4, characterized in that, The establishment of a master-slave relationship for each group of service robots, wherein the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system, further includes: The service robots in the main system are associated with the service robots in the auxiliary systems one by one, and the service robots in the auxiliary systems are controlled by the service robots in the main system. The service robot in the auxiliary system receives control instructions from the service robot in the main system and is subject to the monitoring and scheduling of work progress by the service robot in the main system.

6. The cluster scheduling method for service robots according to claim 1, characterized in that, The step of locating any service robot in the main system and traversing the surrounding service robots in the auxiliary system based on the position of the service robot in the main system includes: Acquire the location signal of any service robot in the main system; The current location of the service robot in the main system is determined based on the positioning signal; Using the current position of the service robot in the main system as the center, the service robots in the auxiliary system are traversed within a preset diameter. When the service robot in the auxiliary system receives a response from the service robot in the main system, the distance between the service robot in the auxiliary system and the service robot in the main system is monitored. A navigation path is formed based on the distance, the position of the service robot in the auxiliary system, and the position of the service robot in the main system; The navigation path is optimized for straight lines and obstacles are avoided.

7. The cluster scheduling method for service robots according to claim 6, characterized in that, If a service robot in the auxiliary system is idle, then the service robot in the main system is associated with the service robot in the auxiliary system, so that the service robot in the main system is associated with multiple service robots in the auxiliary systems, and the location scheduling of the service robots in the auxiliary systems is performed, including: When the service robot in the main system is in working state, iterate through the states of the service robots in the auxiliary system. If a service robot in the auxiliary system is idle, then associate the service robot in the main system with the service robot in the auxiliary system. Based on the service robots in the main system, the location scheduling of service robots in the idle state is performed, and the work content of the service robots in the idle state at that location is specified.

8. A cluster scheduling system for service robots, characterized in that, The cluster scheduling system for the service robots includes: Association module: Used to associate the communication of multiple service robots and obtain the location of multiple service robots; Grouping module: Used to give work instructions to multiple service robots based on the same communication, and to schedule the location and work content of multiple service robots. The multiple service robots are grouped according to their work content, and the multiple service robots are clustered and scheduled according to their work location. Relationship module: Used to establish the master-slave relationship for each group of service robots, where the service robot in the slave system is controlled by the service robot in the master system and receives control commands from the service robot in the master system; The first scheduling module is used for the service robots in the main system to perform tasks for the group of work and for the location scheduling of service robots in the auxiliary systems. The service robots in the auxiliary systems either follow the service robots in the main system or are scheduled based on location signals transmitted by the service robots in the main system. This includes: the service robots in the main system performing tasks for the group of work and coordinating multiple service robots in the auxiliary systems; multiple service robots in the auxiliary systems scheduling their locations based on the positions corresponding to the work tasks; responding to multiple service robots in the auxiliary systems following the service robots in the main system; monitoring the interaction between the multiple service robots in the auxiliary systems when the service robots in the main system are in operation; monitoring the work progress based on the interaction between the multiple service robots in the auxiliary systems; and scheduling the service robots in the auxiliary systems based on location signals transmitted by the service robots in the main system. Positioning module: used to locate any service robot in the main system and to traverse the surrounding service robots in the auxiliary system based on the location of the service robot in the main system. The second scheduling module is used to associate a service robot in the main system with a service robot in the auxiliary system if the service robot in the auxiliary system is idle, so that the service robot in the main system is associated with multiple service robots in the auxiliary system, and to perform position scheduling for the service robots in the auxiliary system.

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