Robot scheduling method and device, computer device and readable storage medium

Abstract

The application relates to a robot scheduling method and device, computer equipment and a readable storage medium. The method comprises the following steps: receiving robot maintenance alarm information sent by a robot to be maintained, wherein the robot maintenance alarm information comprises a robot number to be maintained; if the number of the robots to be maintained is equal to a first preset value, calculating a number difference between the robot numbers to be maintained, determining a temporary replacement robot of the robot to be maintained from other robots corresponding to the robot numbers to be maintained based on the number difference; if the number of the robots to be maintained is greater than the first preset value, determining the temporary replacement robot of the robot to be maintained based on a comparison result of the number of backup robots and the number of the robots to be maintained; and scheduling the temporary replacement robot to take over the inspection work of the robot to be maintained until the robot to be maintained returns to work. The method can improve the efficiency of scheduling robots.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a robot scheduling method and device, computer equipment and readable storage medium. BACKGROUND

[0002] With the development of computer technology, robots begin to be applied to more and more fields, such as robots applied to power grid inspection field. When multiple robots run in the application scene, if damage occurs and needs to be repaired, other robots need to be scheduled to replace the work of the damaged robot.

[0003] However, the existing robot scheduling technology is difficult to quickly schedule other robots to replace the work of the damaged robot when multiple robots are damaged, so that the efficiency of scheduling robots is low. SUMMARY

[0004] Therefore, it is necessary to provide a robot scheduling method, device, computer equipment, computer readable storage medium and computer program product capable of quickly and efficiently scheduling robots in view of the above technical problems.

[0005] In a first aspect, the present application provides a robot scheduling method, comprising:

[0006] receiving robot repair alarm information sent by a to-be-repaired robot, wherein the robot repair alarm information comprises a to-be-repaired robot number;

[0007] if the number of to-be-repaired robots is equal to a first preset value, calculating a number difference between the to-be-repaired robot numbers, and determining a temporary replacement robot of the to-be-repaired robot from other robots corresponding to the to-be-repaired robot numbers based on the number difference;

[0008] if the number of to-be-repaired robots is greater than the first preset value, determining a temporary replacement robot of the to-be-repaired robot based on a comparison result of the number of standby robots and the number of to-be-repaired robots;

[0009] scheduling the temporary replacement robot to replace the inspection work of the to-be-repaired robot until the to-be-repaired robot returns to work.

[0010] In one of the embodiments, if the number of to-be-repaired robots is less than the first preset value, the distances between the to-be-repaired robots and other robots are calculated, and the nearest other robot is determined as the temporary replacement robot of the to-be-repaired robot.

[0011] In one of the embodiments, determining the temporary replacement robot of the to-be-repaired robot from other robots corresponding to the to-be-repaired robot numbers based on the number difference comprises:

[0012] If the number difference is greater than the preset fixed value, other robots corresponding to the first preset side adjacent to the robot number of the robot to be repaired are determined as the temporary robots of the robot to be repaired.

[0013] If the number difference is less than or equal to the preset fixed value, other robots corresponding to the second preset side adjacent to the robot number of the robot to be repaired are determined as the temporary robots of the robot to be repaired. The first preset side and the second preset side are opposite sides.

[0014] In one of the embodiments, based on the comparison result of the number of the standby robots and the number of the robots to be repaired, the temporary robots of the robot to be repaired are determined, including:

[0015] If the number of the standby robots is greater than or equal to the number of the robots to be repaired, the standby robots are determined as the temporary robots of the robot to be repaired.

[0016] If the number of the standby robots is less than the number of the robots to be repaired, the standby robots are determined as the temporary robots of the same number of the robots to be repaired. If the number of the remaining robots to be repaired is even, the number difference between the robot numbers corresponding to each pair of robots to be repaired is calculated, and based on the number difference, the temporary robots of the robot to be repaired are determined from other robots corresponding to the robot number adjacent to the robot to be repaired.

[0017] In one of the embodiments, when the robot is controlled to perform the inspection work, if the road repair sign is recognized, the robot is controlled to bypass based on the route prompt information recognized from the road repair sign until the bypassing reaches the road section of the original planned route corresponding to the inspection work, and then the robot is controlled to continue to perform the inspection work based on the original planned route.

[0018] In one of the embodiments, when the robot is controlled to perform the inspection work, if the obstacle is recognized, the running speed, the running trajectory and the height of the obstacle are recognized. If the running speed of the obstacle represents static, the running trajectory of the obstacle has an intersection with the original planned route, and the height of the obstacle is greater than or equal to a preset multiple of the diameter of the moving wheel of the robot, the robot is controlled to bypass based on the contour of the obstacle until the bypassing reaches the road section of the original planned route, and then the robot is controlled to continue to perform the inspection work based on the original planned route.

[0019] In one of the embodiments, when the robot is controlled to perform the inspection work, if the running speed of the obstacle represents static, the running trajectory of the obstacle has an intersection with the original planned route, and the height of the obstacle is greater than or equal to a preset multiple of the diameter of the moving wheel of the robot, the robot is controlled to bypass based on the contour of the obstacle until the bypassing reaches the road section of the original planned route, and then the robot is controlled to continue to perform the inspection work based on the original planned route.

[0020] In one of the embodiments, when the robot is controlled to perform the inspection work, if the running speed of the obstacle represents static, the running trajectory of the obstacle has an intersection with the original planned route, and the height of the obstacle is greater than or equal to a preset multiple of the diameter of the moving wheel of the robot, the robot is controlled to bypass based on the contour of the obstacle until the bypassing reaches the road section of the original planned route, and then the robot is controlled to continue to perform the inspection work based on the original planned route.

[0020] In a second aspect, the application also provides a robot scheduling device, comprising:

[0021] receive a robot maintenance alarm information sent by the robot to be maintained, the robot maintenance alarm information comprising a robot number to be maintained;

[0022] The first determining module is configured to, if the number of robots to be maintained is equal to a first preset value, calculate a number difference between the robot numbers to be maintained, and determine a temporary robot of the robot to be maintained from other robots corresponding to the robot numbers to be maintained based on the number difference.

[0023] The second determining module is configured to, if the number of robots to be maintained is greater than the first preset value, determine the temporary robot of the robot to be maintained based on a comparison between the number of standby robots and the number of robots to be maintained.

[0024] The scheduling module is configured to schedule the temporary robot to take over the inspection work of the robot to be maintained until the robot to be maintained returns to work.

[0025] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the computer program.

[0026] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor.

[0027] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, and the computer program is executed by a processor.

[0028] The robot scheduling method, device, computer equipment, computer readable storage medium and computer program product can receive the robot maintenance alarm information sent by the robot to be maintained, the robot maintenance alarm information comprising a robot number to be maintained; if the number of robots to be maintained is equal to a first preset value, the number difference between the robot numbers to be maintained is calculated, and the temporary replacement robot of the robot to be maintained is determined from other robots corresponding to the adjacent robot numbers to be maintained based on the number difference; if the number of robots to be maintained is greater than the first preset value, the temporary replacement robot of the robot to be maintained is determined based on the comparison result of the number of standby robots and the number of robots to be maintained; the temporary replacement robot takes over the inspection work of the robot to be maintained until the robot to be maintained returns to work, so that in the case of ensuring the robot cost, the temporary replacement robot of the robot to be maintained is determined in different ways, the temporary replacement robot is determined nearby by using the number difference, which is beneficial to avoiding the situation that the response speed of the robot is affected by the too large calculation pressure of a complex algorithm, and the standby robot is enabled after the number of robots to be maintained reaches a certain number, which also avoids the situation that the calculation pressure is too large due to too many robots to be maintained, and is also beneficial to sharing the inspection work of the robot to be maintained by other robots. Different ways can better improve the efficiency of determining the temporary replacement robot of the robot to be maintained, so that the temporary replacement robot can be quickly scheduled to take over the inspection work of the robot to be maintained until the robot to be maintained returns to work, the automatic scheduling of the robot is realized, and the efficiency of scheduling the robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other related drawings can be obtained by those skilled in the art without any creative effort.

[0030] Figure 1 An application environment diagram of the robot scheduling method in an embodiment;

[0031] Figure 2 A flowchart of the robot scheduling method in an embodiment;

[0032] Figure 3 A robot inspection situation diagram in an embodiment;

[0033] Figure 4 A flowchart of obstacle identification in an embodiment;

[0034] Figure 5 A structural block diagram of the robot scheduling device in an embodiment;

[0035] Figure 6 Fig. 1 is a diagram of an internal structure of a computer device in an embodiment;

[0036] Figure 7 Fig. 1 is a diagram of an internal structure of a computer device in an embodiment. DETAILED DESCRIPTION

[0037] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0038] The robot scheduling method provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 . The terminal 102 communicates with the server 104 through a network. The data storage system can store data required to be processed by the server 104. The data storage system can be integrated on the server 104, or placed on a cloud or other network server. The terminal 102 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things device can be a smart speaker, a smart television, a smart air conditioner, a smart vehicle device, a projection device, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 can be a stand-alone physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0039] In an exemplary embodiment, as shown in Figure 2 , a robot scheduling method is provided. The method is described below by taking the server in Figure 1 as an example, which includes the following steps 200 to 206. Wherein:

[0040] Step S200, receiving robot maintenance alarm information sent by a to-be-maintained robot, the robot maintenance alarm information including a to-be-maintained robot number.

[0041] Wherein, the to-be-maintained robot refers to a robot to be maintained, and the robot includes but is not limited to an operation and maintenance inspection robot.

[0042] Exemplarily, the robots can be controlled to perform inspection work on different road sections. If a robot fails during the inspection process and needs to be repaired, the robot needing repair can be taken as a robot to be repaired. The robot to be repaired can send robot repair alarm information containing the number of the robot to be repaired to the server of the operation and inspection system. The server can receive the robot repair alarm information and perform subsequent scheduling of robots based on the robot repair alarm information. In addition, the server can receive the running states of the robots in real time and monitor the running states of the robots. If the server monitors that the running state of a robot is abnormal, the corresponding robot repair alarm information can also be automatically generated.

[0043] In step S202, if the number of robots to be repaired is equal to the first preset value, the number difference between the numbers of the robots to be repaired is calculated, and the temporary robots of the robots to be repaired are determined from other robots adjacent to the numbers of the robots to be repaired based on the number difference.

[0044] The first preset value refers to a threshold for determining that the robots to be repaired use different scheduling modes to determine replacement robots. The other robots refer to robots that do not have faults and do not need to be repaired. The temporary robot refers to a robot that replaces the robot to be repaired to perform inspection work during the maintenance phase.

[0045] Exemplarily, the replacement robots of the robots to be repaired can be determined based on the numbers of the robots to be repaired. The server can calculate the total number of the robots to be repaired. When the total number is equal to the first preset value, different two robots to be repaired are divided into a group of robots to be repaired. If the first preset value is an even number, the number of groups of robots to be repaired can be one or more. For each group of robots to be repaired, the number difference between the numbers of the two robots to be repaired in the group of robots to be repaired is calculated, and the temporary robots of the robots to be repaired are determined from other robots adjacent to the numbers of the robots to be repaired in each group of robots to be repaired based on the number difference corresponding to each group of robots to be repaired. It should be noted that the way of dividing the robots to be repaired into groups is not limited, which can be but is not limited to random grouping.

[0046] In one embodiment, for the group of robots to be repaired corresponding to the number difference greater than 2, the other robots most adjacent to the inside of the numbers of the two robots to be repaired are taken as the corresponding temporary robots. For the group of robots to be repaired corresponding to the number difference less than or equal to 2, the other robots most adjacent to the outside of the numbers of the two robots to be repaired are taken as the corresponding temporary robots.

[0047] For example, the to-be-repaired robots in a to-be-repaired group are A1 and A4, the corresponding number difference of the to-be-repaired group is 4-1=3, 3 is greater than 2, and then the temporary robots can be determined from the other robots adjacent to A1 and A4 on the inside of the number, and the other robots adjacent to A1 and A4 on the inside of the number are A2 and A3, A2 is the other robot most adjacent to A1 on the inside of the number, and then A2 is the temporary robot of A1, and A3 is the other robot most adjacent to A4 on the inside of the number, and then A3 is the temporary robot of A4.

[0048] For example, the to-be-repaired robots in a to-be-repaired group are A2 and A3, the corresponding number difference of the to-be-repaired group is 3-2=1, 1 is less than 2, and then the temporary robots can be determined from the other robots most adjacent to A2 and A3 on the outside of the number, and the other robots most adjacent to A2 and A3 on the outside of the number are A1 and A4, so A1 is the temporary robot most adjacent to A2 on the outside of the number, and A4 is the temporary robot most adjacent to A3 on the outside of the number.

[0049] Step S204, if the number of to-be-repaired robots is greater than the first preset value, then based on the comparison result of the number of standby robots and the number of to-be-repaired robots, the temporary robots of the to-be-repaired robots are determined.

[0050] For example, in order to save costs and further speed up the scheduling of robots, when the number of to-be-repaired robots is greater than the first preset value, the standby robots can be started as temporary robots of part or all of the to-be-repaired robots. Whether the standby robots are used as temporary robots of all to-be-repaired robots or part of to-be-repaired robots needs to be determined according to the comparison result of the number of standby robots and the number of to-be-repaired robots. If the number of standby robots is greater than or equal to the number of to-be-repaired robots, then the temporary robots of each to-be-repaired robot can be randomly selected from the standby robots. If the number of standby robots is less than the number of to-be-repaired robots, then the standby robots can be used as temporary robots of part of the to-be-repaired robots, and for the remaining to-be-repaired robots, other robots in operation can be selected as temporary robots of the to-be-repaired robots.

[0051] Step S206, the temporary robots are scheduled to take over the inspection work of the to-be-repaired robots until the to-be-repaired robots return to work.

[0052] The inspection work can be power grid operation and maintenance inspection work.

[0053] Exemplarily, during the corresponding inspection work of the robot to be repaired is paused, the temporary robot can be dispatched to replace the inspection work of the robot to be repaired, if the temporary robot is not the standby robot, the temporary robot needs to process its own inspection work and the inspection work of the replaced robot to be repaired until the robot to be repaired returns to work after the repair is completed, and the robot to be repaired after returning to work can be regarded as a returned robot; after the returned robot returns to work, the temporary robot can be controlled to wirelessly transmit the updated inspection work information of the corresponding inspection work of the returned robot to the returned robot, so that the returned robot continues the unfinished inspection work according to the updated inspection work information, and the temporary robot also deletes the inspection work information related to the returned robot. The inspection work information includes but is not limited to important information logs of the robot and regional information of the inspection planning route; the important information logs include abnormal information, repair plans, etc., and each item is automatically updated after completion.

[0054] The above robot scheduling method, by receiving the robot repair alarm information sent by the robot to be repaired, the robot repair alarm information includes the robot to be repaired number; if the number of the robot to be repaired is equal to the first preset value, the number difference between the robot to be repaired numbers is calculated, and based on the number difference, the temporary robot of the robot to be repaired is determined from other robots corresponding to the adjacent robot to be repaired numbers; if the number of the robot to be repaired is greater than the first preset value, based on the comparison result of the number of the standby robot and the number of the robot to be repaired, the temporary robot of the robot to be repaired is determined; the temporary robot is dispatched to replace the inspection work of the robot to be repaired until the robot to be repaired returns to work, so that in the case of ensuring the cost of the robot, different ways are adopted to determine the temporary robot of the robot to be repaired, the number difference is used to determine the temporary robot, which is beneficial to avoid the situation that the response speed of the robot is affected by the too large calculation pressure of the complex algorithm, and the standby robot is enabled after the number of the robot to be repaired reaches a certain number, which also avoids the situation that the calculation pressure is too large due to too many robots to be repaired, and is also beneficial to share the inspection work of the robot to be repaired for other robots. Different ways can better improve the efficiency of determining the temporary robot of the robot to be repaired, so that the temporary robot can be quickly dispatched to replace the inspection work of the robot to be repaired until the robot to be repaired returns to work, realizing the automatic scheduling of the robot and improving the efficiency of scheduling the robot.

[0055] In some embodiments, if the number of the robot to be repaired is less than the first preset value, the distances between the robot to be repaired and other robots are calculated, and the closest other robot is regarded as the temporary robot of the robot to be repaired.

[0056] Exemplarily, to reduce the computing power of calculating the distance and improve the efficiency of determining the temporary robot, when the number of the robots to be repaired is less than the first preset value, the distance between the robot to be repaired and each other robot can be calculated, and the other robot closest in distance is taken as the temporary robot of the robot to be repaired.

[0057] In an embodiment, to further improve the efficiency of determining the temporary robot, when the number of the robots to be repaired is less than the first preset value, the distances between the two other robots closest in number to the robot to be repaired and the robot to be repaired can be calculated respectively, and the other robot closest in distance is taken as the temporary robot of the robot to be repaired; wherein the distances between the two other robots closest in number to the robot to be repaired and the robot to be repaired can be taken as d1 and d2, and the nearest distance is determined based on the min(d1, d2) function.

[0058] For example, the first preset value is 2, the number of the robots to be repaired is 1, the robot to be repaired is A1, the other robots closest in number to the robot to be repaired are A0 and A2, the distance d1 between A1 and A0 is calculated, the distance d2 between A1 and A2 is calculated, if d1 < d2, A0 is taken as the temporary robot of A1, otherwise, A2 is taken as the temporary robot of A1.

[0059] In an embodiment, if the robot closest in number to the robot to be repaired is also a robot to be repaired, a standby robot can be started as the temporary robot of the robot to be repaired, and for the two robots to be repaired closest in number, the other robot closest in number to the robot to be repaired can be taken as the temporary robot. For example, A1, A2 and A3 are all robots to be repaired, A0 is taken as the temporary robot of A1, A4 is taken as the temporary robot of A3, and one of the standby robots is taken as the temporary robot of A2, so as to reduce the computing power of determining the temporary robot in such a case and improve the efficiency of determining the temporary robot.

[0060] In the above embodiments, by calculating the distance between the robot to be repaired and other robots when the number of the robots to be repaired is less than the first preset value and taking the other robot closest in distance as the temporary robot of the robot to be repaired, the number of robots to be repaired is small, and the workload of the robots to be repaired is small. In the case of needing to replace the robots to be repaired, the temporary robot is determined according to the distance between the robot to be repaired and other robots, the temporary robot is automatically confirmed, and the efficiency of scheduling the robots is improved to a certain extent.

[0061] In some embodiments, the temporary robot of the robot to be repaired is determined from the other robots corresponding to the robot to be repaired in number based on the number difference, comprising:

[0062] Step S300, if the number difference is greater than the preset fixed value, the other robots corresponding to the first preset side adjacent to the number of the robot to be repaired are taken as the temporary robots of the robot to be repaired.

[0063] Step S302, if the number difference is less than or equal to the preset fixed value, the other robots corresponding to the second preset side adjacent to the number of the robot to be repaired are taken as the temporary robots of the robot to be repaired; the first preset side and the second preset side are opposite sides.

[0064] The preset fixed value refers to the value of determining the temporary robot on which side of the two adjacent sides of the number of the robot to be repaired, and the preset fixed value can be 2. The first preset side adjacent refers to the innermost adjacent of the two numbers corresponding to the number difference, for example, the innermost adjacent of A2 and A3 between A1 and A4 is A2 and A3 respectively. The second preset side adjacent refers to the outermost adjacent of the two numbers corresponding to the number difference, for example, the outermost adjacent of A1 and A4 between A2 and A3 is A1 and A4 respectively.

[0065] For example, if the number of robots to be repaired is equal to the first preset value, the first preset value is an even number, the robots to be repaired are divided into groups, each group includes two robots to be repaired, and the robots to be repaired in each group are different, the number difference between the numbers corresponding to the two robots to be repaired in each group is calculated; for each group, if the number difference is greater than 2, the other robots adjacent to the number of the robot to be repaired in the group are taken as the corresponding temporary robots, and if the number difference is less than or equal to 2, the other robots adjacent to the number of the robot to be repaired in the group are taken as the corresponding temporary robots.

[0066] For example, the robots to be repaired in a certain group are A1 and A4, the number difference corresponding to the group is 4-1=3, the number difference 3 is greater than the preset fixed value 2, A2 is the other robot adjacent to A1 in the number 1~4, and A3 is the other robot adjacent to A4 in the number 1~4, so A2 can be taken as the temporary robot of A1, and A3 can be taken as the temporary robot of A4. For example, the robots to be repaired in a certain group are A2 and A3, the number difference corresponding to the group is 3-2=1, 1 is less than 2, A1 is the other robot adjacent to A2 in the number 2~3, and A4 is the other robot adjacent to A3 in the number 2~3, so A1 can be taken as the temporary robot of A2, and A4 can be taken as the temporary robot of A3.

[0067] In one embodiment, if the first preset value is an odd number, one of the robots to be repaired can be selected as a selected robot to be repaired, and the robots to be repaired that are not selected are divided into a group of robots to be repaired including two robots to be repaired; for the selected robot to be repaired, the distances between the selected robot to be repaired and the two other robots whose robot numbers are most adjacent to the robot number of the selected robot to be repaired are calculated, and the other robot closest in distance is taken as the temporary robot of the selected robot to be repaired; for each group of robots to be repaired, the number difference between the robot numbers of the two robots to be repaired in each group of robots to be repaired is calculated, and based on the number difference, the temporary robot of the robot to be repaired is determined from the other robots corresponding to the robot numbers of the two robots to be repaired in the group of robots to be repaired.

[0068] For example, the robots to be repaired are A2, A5, and A8, A8 can be taken as the selected robot to be repaired, and A2 and A5 form a group of robots to be repaired; the most adjacent other robots of A8 are A7 and A9, the distances d1 and d2 between A8 and A7 and A9 are calculated respectively, if d1 < d2, A7 is taken as the temporary robot of A8, if d2 ≤ d1, A9 is taken as the temporary robot of A8; the number difference between A2 and A5 is 5-2=3, the number difference 3 is greater than the preset fixed value 2, the most adjacent other robot of A2 within the number 2~5 is A3, and the most adjacent other robot of A5 within the number 2~5 is A4, so A3 can be taken as the temporary robot of A2 and A4 can be taken as the temporary robot of A5.

[0069] In the above embodiment, by comparing the number difference with the preset fixed value, it is determined whether the temporary robot is determined from the first preset side adjacent corresponding other robots corresponding to the two robot numbers of the robots to be repaired or the second preset side adjacent corresponding other robots, which is beneficial to avoid the situation that the determination efficiency of the temporary robot is low due to the large calculation pressure when all the robots to be repaired calculate the distances between each other as the basis for determining the temporary robot, thereby improving the determination efficiency of the temporary robot and further improving the efficiency of the scheduling robot.

[0070] In some embodiments, based on the comparison result of the number of standby robots and the number of robots to be repaired, the temporary robot of the robot to be repaired is determined, comprising:

[0071] In step S400, if the number of standby robots is greater than or equal to the number of robots to be repaired, the standby robot is taken as the temporary robot of the robot to be repaired.

[0072] In step S402, if the number of standby robots is less than the number of robots to be repaired, the standby robots are used as temporary robots of the same number of robots to be repaired; if the number of remaining robots to be repaired is even, the number difference between the numbers of the robots to be repaired corresponding to each pair of robots to be repaired is calculated, and based on the number difference, the temporary robots of the robots to be repaired are determined from other robots adjacent to the numbers of the robots to be repaired.

[0073] For example, to further improve the efficiency of determining the temporary robots on the basis of ensuring the cost within the expectation, when the number of robots to be repaired is greater than the first preset value and the number of standby robots is greater than or equal to the number of robots to be repaired, the standby robots are used as the temporary robots of the robots to be repaired. At this time, one standby robot is used as the temporary robot of one robot to be repaired, that is, one standby robot only replaces the inspection work of one robot to be repaired.

[0074] In addition, when the number of robots to be repaired is greater than the first preset value and the number of standby robots is less than the number of robots to be repaired, the standby robots are used as the temporary robots of the same number of robots to be repaired as the standby robots, that is, the standby robots are one-to-one allocated as the temporary robots of part of the robots to be repaired to replace the inspection work of the allocated robots to be repaired; for the remaining robots to be repaired, if the number of the remaining robots to be repaired is even, the remaining robots to be repaired are divided into one or more groups of robots to be repaired including two robots to be repaired, for each group of robots to be repaired, the number difference between the numbers of the two robots to be repaired in the group of robots to be repaired is calculated, and based on the number difference, the temporary robots of the robots to be repaired are determined from other robots adjacent to the numbers of the two robots to be repaired in the group of robots to be repaired.

[0075] Further, if the number of the remaining robots to be repaired is odd, one robot to be repaired is selected from the remaining robots to be repaired as a selected robot to be repaired, and the unselected robots to be repaired are divided into groups of robots to be repaired including two robots to be repaired; for the selected robot to be repaired, the distance between the selected robot to be repaired and the two other robots adjacent to the number of the selected robot to be repaired in number can be calculated, and the closest other robot is used as the temporary robot of the selected robot to be repaired; for each group of robots to be repaired, based on the number difference between the numbers of the two robots to be repaired in each group of robots to be repaired, based on the number difference, the temporary robots of the robots to be repaired are determined from other robots adjacent to the numbers of the two robots to be repaired in the group of robots to be repaired.

[0076] For example, there are 2 standby robots (a1 and a2) and 5 robots to be repaired (A1, A3, A4, A5, and A8). a1 can be used as the temporary robot of A4, and a2 can be used as the temporary robot of A1. The remaining 3 robots to be repaired (A3, A5, and A8) can be selected as follows: A8 is selected as the robot to be repaired, A3 and A5 are selected as the group of robots to be repaired. The distances d1 and d2 between A8 and its adjacent robots A7 and A9 are calculated. If d1 < d2, A7 is used as the temporary robot of A8, otherwise, A9 is used as the temporary robot of A8. The difference between the numbers of A3 and A5 is 5-3 = 2. The difference between the numbers is 2, which is equal to the preset fixed value 2. The most adjacent robot to A3 outside the number range 3-5 is A2, and the most adjacent robot to A5 outside the number range 3-5 is A4. Therefore, A2 can be used as the temporary robot of A3, and A4 can be used as the temporary robot of A5.

[0077] In one embodiment, regardless of whether the number of standby robots is greater than or equal to the number of robots to be repaired, the inspection work of all robots to be repaired can also be divided, and the divided work can be distributed to different standby robots, so that only the inspection work of the robots to be repaired is distributed to the standby robots to replace, without distributing the inspection work of the robots to be repaired to other robots, thereby reducing the execution pressure of other robots. That is, the same standby robot can be the temporary robot of different robots to be inspected, but the standby robot replaces part of the inspection work of different robots to be repaired.

[0078] In the above embodiment, by comparing the number of standby robots with the number of robots to be repaired, it is determined whether the temporary robots of all robots to be repaired are standby robots or the temporary robots of part of the robots to be repaired are part of the standby robots. If the temporary robots of part of the robots to be repaired are standby robots, the temporary robots of part of the robots to be repaired are determined from other robots. This is advantageous in reducing the computing power of determining temporary robots from other robots while ensuring that the cost is within the expected range, improving the scheduling efficiency of robots, and subsequently distributing the inspection work of the robots to be repaired to the standby robots to reduce the execution pressure of other robots.

[0079] In some embodiments, the robot scheduling method further comprises:

[0080] When the robot is performing the inspection work, if a road repair sign is recognized, the robot is prompted to detour based on the route prompt information recognized from the road repair sign until it reaches the section of the original planned route corresponding to the inspection work, and then continues to perform the inspection work based on the original planned route.

[0081] The route prompt information refers to the detour prompt information described in the road repair sign. The original planned route refers to the original route set by the robot for the inspection work.

[0082] For example, the server can control the robot (including the temporary robot) to perform the inspection work. If a road repair sign is identified, the robot can bypass based on the route prompt information identified from the road repair sign until it returns to the original planned route corresponding to the inspection work, and then perform the inspection work based on the original planned route. For example, as shown in the case of "encountering a road repair sign" in FIG. 5B, when the robot A5 performs the inspection work in the B5 route area, it encounters a road repair sign. According to the route prompt information "turn right by y1 degrees, then straight for L1 meters, then turn left by y2 degrees, and then straight for L2 meters" of the road repair sign, the robot A5 returns to the original planned route B5 area and continues to perform the inspection work. It should be noted that if a road repair sign is identified, the robot does not need to change the original driving speed. Figure 3 Figure 3 For example, as shown in the case of "encountering a road repair sign" in FIG. 5B, when the robot A5 performs the inspection work in the B5 route area, it encounters a road repair sign. According to the route prompt information "turn right by y1 degrees, then straight for L1 meters, then turn left by y2 degrees, and then straight for L2 meters" of the road repair sign, the robot A5 returns to the original planned route B5 area and continues to perform the inspection work. It should be noted that if a road repair sign is identified, the robot does not need to change the original driving speed.

[0083] In the above embodiments, by controlling the robot to identify the road repair sign when the robot identifies the road repair sign, the robot can automatically identify the road repair sign and bypass based on the prompt of the road repair sign when performing the inspection work along the planned route. The robot does not need to perform obstacle avoidance operation according to a complex algorithm, which reduces the calculation pressure and improves the response speed, and improves the inspection efficiency of the robot.

[0084] In some embodiments, the robot scheduling method further comprises:

[0085] In some embodiments, the robot scheduling method further comprises:

[0086] ​Exemplarily, when the robot is performing the inspection work, if an obstacle is identified, the running speed, the running track and the height of the obstacle are identified, the running state of the obstacle is determined according to the running speed of the obstacle, if the running speed of the obstacle is 0, the obstacle is static, if the running speed of the obstacle is not 0, the obstacle is dynamic; the preset multiple can be one-tenth, if the obstacle is static and the height of the obstacle is less than one-tenth of the diameter of the moving wheel of the robot, the robot continues to perform the inspection work based on the original planned route regardless of whether the running track of the obstacle intersects with the original planned route or not; if the obstacle is static, the height of the obstacle is greater than or equal to one-tenth of the diameter of the moving wheel of the robot, and the running track of the obstacle intersects with the original planned route of the robot, the robot is controlled to detour according to the contour of the obstacle until the detouring reaches the forward path of the original planned route, so that the robot continues to perform the inspection work according to the original planned route.

[0087] In the above embodiment, when the robot is performing the inspection work and an obstacle is identified, if the obstacle is static and the height of the obstacle is less than a preset multiple of the diameter of the moving wheel of the robot, the robot is controlled to continue to perform the inspection work based on the original planned route, which realizes the analysis of the obstacle condition without changing the original planned path of the robot and improves the efficiency of the robot inspection.

[0088] In some embodiments, the robot scheduling method further comprises:

[0089] When the robot identifies that the running speed of the obstacle represents a dynamic state and the running track of the obstacle intersects with the original planned route, the computer calculates a first time when the robot moves to the intersection point, calculates a second time when the obstacle moves to the intersection point, and adjusts the running route of the robot based on the comparison result between the time difference between the first time and the second time and a preset time difference.

[0090] The first time refers to the time when the robot moves to the intersection point of the original planned route corresponding to the robot and the running track of the obstacle. The second time refers to the time when the obstacle moves to the intersection point of the original planned route corresponding to the robot and the running track of the obstacle. The preset time difference refers to the time difference for measuring the collision between the robot and the obstacle when they run to the intersection point of the route.

[0091] For example, the server can control the robot to further determine the time at which the robot and the obstacle run to the intersection of the route, calculate a first time at which the robot moves to the intersection, and calculate a second time at which the obstacle moves to the intersection. If the time difference between the first time and the second time is greater than a preset time difference, it indicates that the time difference between the robot and the obstacle reaching the intersection of the route is relatively large, and the probability of collision is small. The robot can continue to move forward based on the original planned route to perform the inspection work.

[0092] Further, if the time difference between the first time and the second time is less than or equal to the preset time difference, it indicates that the robot and the obstacle are likely to collide. The robot can be controlled to slow down so that the time at which the slowed-down robot reaches the intersection of the route and the time at which the obstacle reaches the intersection of the route is greater than the preset time difference. After the robot passes the intersection of the route at the slowed-down speed, the robot performs the inspection work based on the original planned route according to the original running speed.

[0093] In addition, if the obstacle is dynamic and the running track of the obstacle does not intersect with the original planned route of the robot, the robot is controlled to directly move forward based on the original planned route to perform the inspection work. Thus, the collision between the dynamic obstacle and the robot is avoided, and the robot automatically changes the path and speed when encountering the obstacle.

[0094] In the above embodiments, when the robot recognizes the dynamic obstacle and the running track of the obstacle intersects with the original planned route of the robot, the robot automatically changes the running speed according to the time difference between the robot and the obstacle reaching the intersection, to avoid the collision between the robot and the obstacle, and to realize the automatic avoidance of the robot to the dynamic obstacle, thereby improving the inspection efficiency of the robot.

[0095] In some embodiments, the robot can independently execute the identification of the information of the road repair sign and the obstacle, and can independently process the route prompt information identified by the road repair sign and the related information of the obstacle, and independently determine whether to change the route or the speed. The robot can feed the processed data information to the server and communicate with the server in real time.

[0096] In some embodiments, the robot performs power grid operation and inspection, the operation and inspection robot that needs to be repaired is taken as a to-be-repaired robot, the server of the power grid operation system is taken as the server of the execution subject of the application, and the server can combine Figure 3 and Figure 4When the operation and maintenance robot needs to be inspected during the inspection process, how to schedule the robot to take over the inspection work of itself. When the operation and maintenance robot fails during the inspection process, the robot maintenance alarm information containing the number of the robot to be repaired can be sent to the server. The server receives the robot maintenance alarm information sent by the robot to be repaired, and calculates the number of the robot to be repaired. If the number of the robot to be repaired is equal to 1, the distance between the robot to be repaired and the two other robots adjacent to the number of the robot to be repaired is calculated, and the nearest other robot is taken as the temporary robot of the robot to be repaired.

[0097] If the number of the robot to be repaired is equal to 2 (i.e. the first preset value), the number difference between the two robots to be repaired is calculated. If the number difference is greater than 2 (i.e. the preset fixed value), the other robots corresponding to the most adjacent inside of the number of the robot to be repaired are taken as the corresponding temporary robots of the two robots to be repaired. If the number difference is less than 2, the other robots corresponding to the most adjacent outside of the number of the robot to be repaired are taken as the corresponding temporary robots of the two robots to be repaired.

[0098] If the number of the robot to be repaired is greater than 2, when the number of standby robots is greater than or equal to the number of robots to be repaired, each standby robot is taken as the temporary robot of each robot to be repaired. When the number of standby robots is less than the number of robots to be repaired, all standby robots are first allocated as temporary robots of part of the robots to be repaired. If the number of remaining robots to be repaired is even, the robots to be repaired are divided into repair groups, each repair group includes two robots to be repaired, and the robots to be repaired in each repair group are different. The number difference between the numbers of the two robots to be repaired corresponding to each repair group is calculated. For each repair group, if the number difference is greater than 2, the other robots corresponding to the most adjacent inside of the number of the robot to be repaired in the repair group are taken as the corresponding temporary robots of the two robots to be repaired. If the number difference is less than or equal to 2, the other robots corresponding to the most adjacent outside of the number of the robot to be repaired in the repair group are taken as the corresponding temporary robots of the two robots to be repaired.

[0099] If the remaining robots to be repaired are odd, one robot to be repaired can be selected as a selected robot to be repaired, and the robots to be repaired that are not selected are divided into a repair group including two robots to be repaired; for the selected robot to be repaired, the distance between the selected robot to be repaired and the two other robots whose robot numbers are most adjacent to the robot number of the selected robot to be repaired can be calculated, and the other robot closest in distance is taken as the temporary robot of the selected robot to be repaired; for each repair group, the number difference between the robot numbers of the two robots to be repaired in each repair group is calculated, if the number difference is greater than 2, the other robot whose number is most adjacent to the number of the robot number of the two robots to be repaired in the repair group is taken as the corresponding temporary robot, and if the number difference is less than or equal to 2, the other robot whose number is most adjacent to the number of the robot number of the two robots to be repaired in the repair group is taken as the corresponding temporary robot.

[0100] Further, the temporary robot is dispatched to take over the inspection work of the robot to be repaired, wherein the temporary robot taking over the inspection work of the robot to be repaired includes: the robot to be repaired wirelessly transmits the inspection work information including the inspection planning route (i.e. the original planning route of the robot) to the temporary robot, so that the temporary robot temporarily handles the inspection work of the robot to be repaired based on the inspection work information of the robot to be repaired, generates updated inspection work information, and the temporary robot also needs to handle its own inspection work; the robot to be repaired returning to work can be taken as a returning robot, if the server receives the returning signal sent by the returning robot, the corresponding temporary robot of the returning robot can be notified, the updated inspection work information of the returning robot is wirelessly transmitted to the returning robot, and the temporary robot itself deletes the inspection work information related to the returning robot, so that the returning robot continues to handle the remaining inspection work based on the updated inspection work information.

[0101] Wherein, in the process of the robot performing the inspection, if the robot recognizes a road repair sign, the robot can perform detouring based on the route prompt information recognized from the road repair sign (such as Figure 3 indicated as "encountering a road repair sign"), until the original planning route is reached, and then the inspection work is continued based on the original planning route, Figure 3 Wherein, AX represents the robot, and BX represents the inspection route of the robot. In addition, if the robot encounters an obstacle in the process of the inspection (such as Figure 3 indicated as "encountering an obstacle"), the robot can combine Figure 4The flowchart shown describes that the robot can identify the running speed, running trajectory and height of the obstacle, if the running speed of the obstacle is 0 (i.e. static), the running trajectory of the obstacle intersects with the original planned route of the robot, and the height of the obstacle is greater than or equal to 0.1 times the diameter of the moving wheel of the robot (i.e. Figure 4 “obstacle height is less than 0.1h”), the robot is controlled to bypass based on the profile of the obstacle until the original planned route is bypassed. If the running speed of the obstacle is equal to 0 and the running trajectory of the obstacle does not intersect with the original planned route of the robot, the robot directly maintains the original planned route and speed to proceed with the inspection work.

[0102] If the running speed of the obstacle is not equal to 0 and the running trajectory of the obstacle does not intersect with the original planned route of the robot, the robot directly maintains the original planned route and speed to proceed with the inspection work. If the running speed of the obstacle is not equal to 0 and the running trajectory of the obstacle intersects with the original planned route of the robot, the first time for the robot to reach the intersection point of the route is calculated, and the second time for the obstacle to reach the intersection point of the route is calculated, if the time difference between the first time and the second time is greater than a preset time difference (e.g. Figure 4 “|t1-t2|>20s”), it is indicated that the robot is not likely to collide with the obstacle, and the robot can directly maintain the original planned route and speed to proceed with the inspection work.

[0103] If the time difference between the first time and the second time is less than or equal to the preset time difference, the robot is controlled to slow down, so that the time difference between the time for the robot to reach the intersection point of the route after slowing down and the time for the obstacle to reach the intersection point of the route is greater than the preset time difference, thereby avoiding the collision between the robot and the obstacle without changing the running path of the robot, and the robot can resume the original running speed to proceed with the inspection work after passing through the intersection point of the route. Thus, in consideration of the cost of the robot, different ways are adopted to determine the temporary robot of the to-be-repaired robot, and the efficiency of determining the temporary robot of the to-be-repaired robot is improved by different ways, and the temporary robot takes over the inspection work of the to-be-repaired robot until the to-be-repaired robot returns to work, realizing the automatic scheduling of the robot and improving the efficiency of scheduling the robot. In addition, when the robot is performing the inspection, the robot encountering the road repair sign and the obstacle is analyzed according to different situations, the running path of the robot is optimized, and the running speed of the robot is appropriately changed. The optimization of the path and the change of the running speed also avoid the recalculation of complex algorithms, which is conducive to reducing the calculation pressure and complexity and speeding up the response speed of the robot.

[0104] It should be understood that although the steps in the flowcharts involved in the embodiments described above are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the embodiments described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0105] Based on the same inventive concept, the embodiments of the present application also provide a robot scheduling device for implementing the robot scheduling method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more robot scheduling device embodiments provided below can refer to the limitations of the robot scheduling method described above, which will not be repeated here.

[0106] In one exemplary embodiment, as shown in Figure 5 A robot scheduling device is provided, comprising: a receiving module 500, a first determining module 502, a second determining module 504, and a scheduling module 506, wherein:

[0107] The receiving module 500 is configured to receive robot maintenance alarm information sent by a robot to be maintained, wherein the robot maintenance alarm information comprises a robot number to be maintained.

[0108] The first determining module 502 is configured to, if the number of robots to be maintained is equal to a first preset value, calculate a number difference between the robot numbers to be maintained, and determine a temporary robot of the robot to be maintained from other robots corresponding to the robot to be maintained based on the number difference.

[0109] The second determining module 504 is configured to, if the number of robots to be maintained is greater than the first preset value, determine the temporary robot of the robot to be maintained based on a comparison between the number of standby robots and the number of robots to be maintained.

[0110] The scheduling module 506 is configured to schedule the temporary robot to take over the inspection work of the robot to be maintained until the robot to be maintained returns to work.

[0111] In some embodiments, the first determining module 502 is further configured to, if the number of robots to be repaired is less than a first preset value, calculate distances between the robot to be repaired and other robots corresponding to numbers adjacent to the number of the robot to be repaired, and take the other robot closest to the robot to be repaired as the temporary robot of the robot to be repaired.

[0112] In some embodiments, the first determining module 502 is further configured to, if the number difference is greater than a preset fixed value, take the other robot corresponding to a number adjacent to a first preset side of the number of the robot to be repaired as the temporary robot of the robot to be repaired, and if the number difference is less than or equal to the preset fixed value, take the other robot corresponding to a number adjacent to a second preset side of the number of the robot to be repaired as the temporary robot of the robot to be repaired, the first preset side and the second preset side being opposite sides.

[0113] In some embodiments, the second determining module 504 is further configured to, if the number of backup robots is greater than or equal to the number of robots to be repaired, take the backup robots as the temporary robots of the robots to be repaired, if the number of backup robots is less than the number of robots to be repaired, take the backup robots as temporary robots of the same number of robots to be repaired, if the number of remaining robots to be repaired is even, calculate a number difference between numbers corresponding to each pair of robots to be repaired, and determine the temporary robots of the robots to be repaired from other robots corresponding to numbers adjacent to the number of the robot to be repaired based on the number difference.

[0114] In some embodiments, the robot scheduling apparatus further comprises an identification module 508 configured to control the robot to, when performing the inspection work, if a road repair sign is identified, bypass based on route prompt information identified from the road repair sign until a road segment of an original planned route corresponding to the inspection work is bypassed, and continue to perform the inspection work based on the original planned route.

[0115] In some embodiments, the identification module 508 is further configured to control the robot to, when performing the inspection work, if an obstacle is identified, identify a running speed, a running trajectory and a height of the obstacle, if the running speed of the obstacle represents a static state, the running trajectory of the obstacle has an intersection with the original planned route, and the height of the obstacle is greater than or equal to a preset multiple of the diameter of the moving wheels of the robot, bypass based on the outline of the obstacle until a road segment of the original planned route is bypassed, and continue to perform the inspection work based on the original planned route.

[0116] In some embodiments, the identification module 508 is further configured to control the robot to identify a dynamic situation in which a running speed of the robot is represented by a speed of the robot, and a running track of the obstacle intersects with an original planned route, calculate a first time at which the robot moves to a corresponding intersection point, calculate a second time at which the obstacle moves to the corresponding intersection point, and adjust a running route of the robot based on a comparison result between a time difference between the first time and the second time and a preset time difference.

[0117] The modules in the robot scheduling apparatus described above can be implemented in whole or in part by software, hardware, or a combination thereof. The modules described above can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform operations corresponding to the modules.

[0118] In an exemplary embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in Figure 6 The computer device includes a processor, a memory, an input / output interface, and a communication interface. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for running of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store data related to robot scheduling. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with a terminal outside through a network connection. The computer program is executed by the processor to implement a robot scheduling method.

[0119] In an exemplary embodiment, a computer device, which can be a terminal, is provided, and an internal structure diagram of the computer device can be as shown in Figure 7The computer device shown in the figure includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be realized through WIFI, mobile cellular network, near field communication (NFC) or other technologies. The computer program is executed by the processor to realize a robot scheduling method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0120] Those skilled in the art can understand that, Figure 6 Or Figure 7 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0121] In one embodiment, a computer device is also provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to realize the steps in the above method embodiments.

[0122] In one embodiment, a computer readable storage medium is provided, storing a computer program, which is executed by a processor to realize the steps in the above method embodiments.

[0123] In one embodiment, a computer program product is provided, including a computer program, which is executed by a processor to realize the steps in the above method embodiments.

[0124] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0125] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments of each method. In the embodiments provided in the present application, any reference to memory, database or other medium can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (Resistive Random Access Memory, ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (Artificial Intelligence, AI) processor, etc., without being limited thereto.

[0126] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, any combination of these technical features is deemed to be within the scope of the present application.

[0127] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of robot scheduling, the method comprising: The method comprises: receiving robot maintenance alarm information sent by a robot to be maintained, wherein the robot maintenance alarm information comprises a robot number to be maintained; if the number of robots to be maintained is equal to a first preset value, calculating a number difference between the robot numbers to be maintained, and determining a temporary robot of the robot to be maintained from other robots corresponding to adjacent robot numbers to be maintained based on the number difference; if the number of robots to be maintained is greater than the first preset value, determining the temporary robot of the robot to be maintained based on a comparison result of the number of standby robots and the number of robots to be maintained; scheduling the temporary robot to take over the inspection work of the robot to be maintained until the robot to be maintained returns to work.

2. The method of claim 1, wherein, The method further comprises: if the number of robots to be maintained is less than the first preset value, calculating a distance between the robot to be maintained and other robots, and taking the closest other robot as the temporary robot of the robot to be maintained.

3. The method of claim 1, wherein, The method further comprises: if the number difference is greater than a preset fixed value, taking the other robot corresponding to the first preset side of the robot number to be maintained as the temporary robot of the robot to be maintained; if the number difference is less than or equal to the preset fixed value, taking the other robot corresponding to the second preset side of the robot number to be maintained as the temporary robot of the robot to be maintained; the first preset side and the second preset side are opposite sides.

4. The method of claim 1, wherein, The method further comprises: if the number of standby robots is greater than or equal to the number of robots to be maintained, taking the standby robot as the temporary robot of the robot to be maintained; if the number of standby robots is less than the number of robots to be maintained, taking the standby robot as the temporary robot of the same number of robots to be maintained; if the number of remaining robots to be maintained is even, calculating a number difference between robot numbers corresponding to each pair of robots to be maintained, and determining the temporary robot of the robot to be maintained from other robots corresponding to adjacent robot numbers to be maintained based on the number difference.

5. The method of claim 1, wherein, The method further comprises: when a robot is performing an inspection task, if a road repair sign is recognized, the robot is controlled to bypass based on route prompt information recognized from the road repair sign until the bypassed route reaches a route segment of an original planned route corresponding to the inspection task, and the inspection task is continued to be performed based on the original planned route.

6. The method of claim 5, wherein, The method further comprises: The robot is controlled to identify the running speed, running track and height of the obstacle when performing the inspection work, and if the running speed of the obstacle represents static, the running track of the obstacle intersects with the original planned route, and the height of the obstacle is greater than or equal to a preset multiple of the diameter of the moving wheel of the robot, the robot is controlled to bypass based on the contour of the obstacle until the bypass reaches the section of the original planned route, and the inspection work is continued based on the original planned route.

7. The method of claim 6, wherein, The method further comprises: When the robot identifies that the running speed of the obstacle represents dynamic and the running track of the obstacle intersects with the original planned route, the robot is controlled to calculate a first time when the robot moves to the intersection point, calculate a second time when the obstacle moves to the intersection point, and adjust the running route of the robot based on the comparison result between the time difference between the first time and the second time and a preset time difference.

8. A robot dispatching apparatus characterized by comprising: The device comprises: A receiving module configured to receive robot maintenance alarm information sent by a to-be-maintained robot, wherein the robot maintenance alarm information comprises a to-be-maintained robot number; A first determining module configured to, if the number of to-be-maintained robots is equal to a first preset value, calculate a number difference between the to-be-maintained robot numbers, and determine a temporary robot of the to-be-maintained robot from other robots corresponding to adjacent to-be-maintained robot numbers based on the number difference; A second determining module configured to, if the number of to-be-maintained robots is greater than the first preset value, determine a temporary robot of the to-be-maintained robot based on the comparison between the number of standby robots and the number of to-be-maintained robots; A scheduling module configured to schedule the temporary robot to take over the inspection work of the to-be-maintained robot until the to-be-maintained robot returns to work. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

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