Task change processing method, robot and storage medium

Abstract

The invention relates to the technical field of robots, in particular to a task change processing method, a robot and a storage medium, the method is applied to the robot, and the method comprises the steps that in the process that the robot executes elevator operation, in response to a received task change request, elevator pause operation is executed based on the elevator operation, the elevator operation comprises elevator entering operation, taking operation and elevator exiting operation; changing a task list of the robot based on the task change request; and elevator operation is executed based on the changed task list. According to the method and the device, in the process of executing the elevator operation, the robot pauses execution of the current elevator operation, does not need to initialize or cancel the current task, flexibly updates the task list, and ensures the task execution continuity and high efficiency, so that the task execution efficiency is improved, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a task change processing method, a robot and a storage medium. Background Art

[0002] Robots are mechanical devices that can automatically perform tasks. They can run pre-programmed programs to complete a variety of different types of tasks. They are widely used in various service places to provide customers with services such as guiding and delivering items. In actual applications, robots often need to take elevators when performing work tasks.

[0003] In the prior art, robots perform tasks linearly and statically. Once a task requiring taking an elevator begins, if the task needs to be modified or a new task needs to be added, the current task needs to be reinitialized or canceled. The task cannot be modified or added flexibly, resulting in low task execution efficiency and poor user experience. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a task change processing method, a robot and a storage medium, aiming to solve the technical problem of low efficiency of robot execution of tasks in the prior art.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a task change processing method, which is applied to a robot, and the method includes:

[0007] In the process of the robot performing an elevator operation, in response to a received task change request, performing a suspending elevator operation based on the elevator operation, wherein the elevator operation includes an elevator entry operation, a boarding operation, and an elevator exit operation;

[0008] Based on the task change request, change the task list of the robot;

[0009] Based on the changed task list, elevator operation is performed.

[0010] In some embodiments, the performing of pausing elevator operation based on the elevator operation includes:

[0011] If the robot is performing an elevator entry operation, the robot pauses the elevator entry operation and moves to a waiting area, wherein the waiting area is set outside the elevator;

[0012] A first release instruction is sent to the elevator control system, so that the elevator control system terminates a first holding instruction for keeping the elevator car door in an open state after receiving the first release instruction.

[0013] In some embodiments, the performing of pausing elevator operation based on the elevator operation includes:

[0014] If the robot is performing a boarding operation, the boarding operation is suspended, and a boarding cancellation instruction is sent to the elevator control system, so that the elevator control system terminates the operation instruction to the target floor after receiving the boarding cancellation instruction.

[0015] In some embodiments, the performing of pausing elevator operation based on the elevator operation includes:

[0016] If the robot is performing an exit operation, the exit operation is paused, and a second release instruction is sent to the elevator control system, so that the elevator control system terminates the second hold instruction for keeping the elevator car door open after receiving the second release instruction.

[0017] In some embodiments, the step of changing the task list of the robot based on the task change request includes:

[0018] If the task change request is a task adding request, adding the to-be-added task corresponding to the task adding request to the task list of the robot;

[0019] If the task change request is a task modification request, modifying the task to be modified corresponding to the task modification request in the task list of the robot;

[0020] If the task change request is a task cancellation request, the to-be-canceled task corresponding to the task cancellation request in the task list of the robot is canceled.

[0021] In some embodiments, the task list includes a delivery item task, and performing the elevator operation based on the changed task list includes:

[0022] determining a positional relationship between the robot and the elevator, the positional relationship including that the robot is located outside the elevator and that the robot is located inside the elevator;

[0023] If the robot is located outside the elevator, the robot moves to the article loading and unloading area to load or unload the to-be-delivered articles corresponding to the changed article delivery task in the article loading and unloading area;

[0024] If the robot is located inside the elevator, performing an exit operation to leave the elevator car;

[0025] After leaving the elevator car, the vehicle moves to the article loading and unloading area to load or unload the articles to be delivered corresponding to the changed article delivery task in the article loading and unloading area.

[0026] In some embodiments, performing elevator operation based on the changed task list includes:

[0027] determining a positional relationship between the robot and the elevator, the positional relationship including that the robot is located outside the elevator and that the robot is located inside the elevator;

[0028] If the robot is located inside the elevator, and the changed task list includes at least one task, determining a target floor that needs to be reached first according to the at least one task, so that the elevator runs to the target floor that needs to be reached first;

[0029] If the robot is located inside the elevator and the changed task list includes zero tasks, performing an exit operation to leave the elevator car;

[0030] If the robot is located outside the elevator and the changed task list includes at least one task, an elevator call instruction is sent to the elevator control system, so that after receiving the elevator call instruction, the elevator control system controls the elevator to run to the floor where the robot is located, so that the robot can take the elevator;

[0031] If the robot is outside the elevator and the changed task list includes zero tasks, the robot moves to the waiting area.

[0032] In some embodiments, the step of changing the task list of the robot based on the task change request includes:

[0033] Check the effectiveness of the tasks to be changed;

[0034] If the task to be changed is invalid, the task list is maintained unchanged;

[0035] If the task to be changed is valid, an adding operation, a modifying operation or a canceling operation is performed on the task to be changed.

[0036] In a second aspect, an embodiment of the present invention provides a robot, comprising:

[0037] A processor, and a memory communicatively connected to the processor;

[0038] The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes any one of the task change processing methods proposed in the first aspect, or executes steps in any one of the possible implementation methods of any one of the task change processing methods proposed in the first aspect.

[0039] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which is stored computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes any one of the task change processing methods proposed in the first aspect, or executes steps in any one of the possible implementation methods of any one of the task change processing methods proposed in the first aspect.

[0040] Beneficial effects of the embodiments of the present invention: Different from the prior art, the task change processing method provided by the embodiments of the present invention is applied to a robot, and the method includes: in the process of the robot performing elevator operation, in response to a received task change request, pausing the elevator operation based on the elevator operation, the elevator operation includes entering the elevator, boarding and exiting the elevator; based on the task change request, changing the task list of the robot; and performing the elevator operation based on the changed task list.

[0041] In the present invention, during the process of performing elevator operations, the robot pauses the current elevator operation without initializing or canceling the current task, and flexibly updates the task list to ensure the continuity and efficiency of task execution, thereby improving task execution efficiency and enhancing user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0043] Figure 1 is a schematic diagram of an application scenario of a task change processing method provided by some embodiments of the present invention;

[0044] Figure 2 is a schematic diagram of the structure of a robot provided by some embodiments of the present invention;

[0045] Figure 3 is a flowchart of a task change processing method provided by some embodiments of the present invention;

[0046] Figure 4 yes Figure 3 A schematic diagram of a sub-flow of step S100 in the task change processing method shown in the embodiment;

[0047] Figure 5 yes Figure 3 A schematic diagram of a sub-flow of step S200 in the task change processing method shown in the embodiment;

[0048] Figure 6 yes Figure 3 Another sub-flow diagram of step S200 in the task change processing method shown in the embodiment;

[0049] Figure 7 yes Figure 3 A schematic diagram of a sub-flow of step S300 in the task change processing method shown in the embodiment;

[0050] Figure 8 yes Figure 3 Another sub-flow diagram of step S300 in the task change processing method shown in the embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0052] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device, or in a different order from the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0053] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0054] See also Figure 1 , Figure 1A schematic diagram of an application scenario of a task change processing method provided in some embodiments of the present invention.

[0055] like Figure 1 As shown, in this application scenario, there are a robot 100, an elevator 200, and an elevator control system 300. The robot 100 is connected to the elevator control system 300 through a network (e.g., WiFi technology), and the elevator 200 is connected to the elevator control system 300 through a network (e.g., a wired network connection or a wireless network connection). In some embodiments, a waiting area 201 is provided outside the elevator 200. When the robot 100 performs a task that requires taking an elevator, it often needs to perform related elevator operations, such as Figure 1 Elevator entry operation shown.

[0056] When the robot 100 is performing the elevator entry operation, if a task change request is received and the current task needs to be changed, the robot 100 suspends the elevator entry operation, and in order not to affect the normal use of the elevator 200 by other robots or pedestrians, the robot 100 navigates from the current position to the waiting area 201 set outside the elevator 200, and then sends the corresponding elevator release command to the elevator control system 300. After receiving the elevator release command, the elevator control system 300 terminates the hold command of the elevator car door to keep the open state, so that the elevator car door of the elevator 200 is closed, and the elevator 200 can be used normally by other robots or pedestrians.

[0057] The robot 100 changes the current task of the robot 100 based on the task change request in the waiting area 201, and obtains a changed task list. Then, according to the changed task list, the robot 100 calls the elevator again and performs related elevator operations to complete the corresponding task.

[0058] It should be understood that Figure 1 In the application scenario shown, only one situation in which the robot 100 changes the current task during the elevator entry operation is schematically shown, and it does not impose any restrictions on any situation such as the structure, type and quantity of the robot 100, the elevator 200 and the elevator control system 300 in other application scenarios. For example, in some other application scenarios, the robot 100 can change the current task during the elevator exit operation, and the robot 100 can also communicate with the elevator control system 300 through other suitable networks (such as 4G, 5G communication networks, etc.).

[0059] To facilitate understanding of the task change processing method provided by the embodiment of the present invention, the robot provided by the embodiment of the present invention is first introduced in detail.

[0060] See also Figure 2 , Figure 2A schematic structural diagram of a robot 100 provided in some embodiments of the present invention is shown.

[0061] For example, Figure 2 As shown, the robot 100 includes at least one processor 110 and a memory 120 ( Figure 2 In the example of a bus system connection and a processor, the various components in the robot 100 are coupled together through the bus system 130, and the bus system 130 is used to realize the connection and communication between these components. It is easy to understand that the bus system 130 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 2 In the figure, various buses are labeled as bus system 130. Those skilled in the art will understand that Figure 2 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the robot 100. For example, the robot 100 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0062] Specifically, the processor 110 is used to provide computing and control capabilities to control the robot 100 to perform corresponding tasks. For example, the robot 100 is controlled to perform any of the task change processing methods provided in the embodiments of the present invention, or to perform any of the steps in any possible implementation of any of the task change processing methods provided in the embodiments of the present invention. Those skilled in the art can understand that the processor 110 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0063] The memory 120, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the task change processing method in the embodiment of the present invention. In some embodiments, the memory 120 may include a storage program area and a storage data area, and the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the processor 110, etc. The processor 110 executes various functional applications and data processing of the robot 100 by running the non-transient software programs, instructions and modules stored in the memory 120 to implement any of the task change processing methods provided in the embodiment of the present invention, or execute any of the steps in any possible implementation of any of the task change processing methods provided in the embodiment of the present invention. Among them, the memory 120 may include a high-speed random access memory, and may also include a non-transient memory. For example, at least one disk storage device, a flash memory device or other non-transient solid-state storage device. In some embodiments, the memory 120 may also include a memory remotely arranged relative to the processor 110, and these remote memories may be connected to the processor 110 through a communication network. It can be understood that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0064] It is easy to understand that the implementation and execution subject of any task change processing method provided in the embodiments of the present invention can be any suitable type of electronic device with certain computing and control capabilities. In some possible implementations, any task change processing method provided in the embodiments of the present invention can be implemented by a processor calling computer program instructions stored in a memory.

[0065] The task change processing method provided in the embodiment of the present invention is applicable to a robot system that needs to flexibly change tasks according to task requirements during the execution of elevator operations. For example, in a smart building, a robot needs to transport objects between different floors. When a new task change request is received, the robot can quickly respond and adjust its task list to ensure that the task is successfully completed according to the new requirements.

[0066] It can be understood from the above that the task change processing method provided by the embodiment of the present invention can be implemented by various suitable types of robots with certain computing and control capabilities, for example, it can be implemented and executed by the above robot 100. The task change processing method provided by the embodiment of the present invention is described below in conjunction with the exemplary application and implementation of the robot provided by the embodiment of the present invention.

[0067] See also Figure 3 , Figure 3 A schematic flow chart of a task change processing method provided by some embodiments of the present invention is shown.

[0068] Those skilled in the art will appreciate that the task change processing method provided in the embodiment of the present invention can be applied to the above robot (eg, robot 100). Specifically, the execution subject of the task change processing method is one or at least two processors of the robot.

[0069] like Figure 3 As shown, the task change processing method includes but is not limited to the following steps S100-S300:

[0070] S100: During the process of the robot performing elevator operation, in response to a received task change request, the robot performs a pause elevator operation based on the elevator operation, wherein the elevator operation includes an elevator entry operation, a boarding operation and an elevator exit operation.

[0071] Specifically, when the robot performs a task that requires taking an elevator, it often needs to perform related elevator operations, such as elevator entry, elevator boarding, and elevator exit operations.

[0072] Exemplarily, if the robot is performing an elevator operation and receives a task change request, it indicates that the current task of the robot needs to be changed. The robot responds to the received task change request and executes a pause elevator operation according to the elevator operation currently being performed by the robot to suspend the elevator operation currently being performed. For example, in some embodiments, the robot is performing an elevator entry operation and receives a task change request at this time. Then, in response to the received task change request, the robot executes a pause elevator entry operation, for example, suspends forward movement or closes the relevant task executor, so that the robot can subsequently change the task list according to the task change request.

[0073] In some embodiments, when the robot receives and responds to a task change request during the process of performing different elevator operations, the elevator pause operation to be performed is different. When the robot is performing an elevator entry operation, the robot needs to first pause the elevator entry operation and then perform the corresponding task change operation.

[0074] See also Figure 4 , Figure 4 A sub-flow diagram of step S100 in the task change processing method provided by some embodiments of the present invention is shown.

[0075] In some embodiments, the elevator operation is suspended based on the elevator operation, including but not limited to the following steps S110-S120:

[0076] S110: If the robot is performing an elevator entry operation, the elevator entry operation is suspended and the robot moves to a waiting area, wherein the waiting area is set outside the elevator.

[0077] S120: Send a first release instruction to the elevator control system, so that the elevator control system terminates the first holding instruction for keeping the elevator car door in an open state after receiving the first release instruction.

[0078] Among them, the waiting area is an area set outside the elevator for the robot to dock.

[0079] Specifically, when the robot receives a task change request and responds to the task change request, if the robot is performing an elevator entry operation to drive into the elevator car, the elevator entry operation being performed is suspended and driving into the elevator car is stopped. For example, the elevator entry operation is suspended by stopping forward movement or stopping a task executor.

[0080] After pausing the elevator entry operation, the robot plans a driving path from the current position of the robot to the waiting area through a preset electronic map and a path planning algorithm (e.g., A* algorithm and Dijkstra algorithm, etc.). After the driving path is planned, the robot drives to the waiting area according to the driving path, so as to change the task corresponding to the task change request after driving to the waiting area.

[0081] After driving to the waiting area, the robot sends a first release instruction to the elevator control system through a suitable communication method (such as WiFi network, Zigbee, etc.), so that the elevator control system terminates the first hold instruction after receiving the first release instruction. The first hold instruction is used to keep the elevator car door open so that the robot can drive into the elevator car. After receiving the first release instruction, the elevator control system terminates the first hold instruction and releases the state of keeping the elevator car door open, so that the elevator car door closes normally, and the elevator can be used normally by other robots or pedestrians, avoiding long-term occupation of unused elevators.

[0082] It is understandable that the robot sends the first release command to the elevator control system after pausing the current elevator operation. For another example, the robot may also send the first release command to the elevator control system during or before traveling to the waiting area.

[0083] In some embodiments, when the robot is performing a riding operation, the robot needs to first pause the riding operation and then perform a corresponding task change operation.

[0084] In some embodiments, the elevator operation is paused based on the elevator operation, specifically including but not limited to the following steps S130:

[0085] S130: If the robot is performing a boarding operation, the boarding operation is suspended, and a boarding cancellation instruction is sent to the elevator control system, so that the elevator control system terminates the operation instruction to the target floor after receiving the boarding cancellation instruction.

[0086] Specifically, when the robot receives a task change request and responds to the task change request, if the robot is performing a boarding operation to take the elevator car to the target floor, the boarding operation being performed is paused and the elevator car is stopped.

[0087] In some embodiments, the robot pauses the boarding operation being performed, and can send a boarding cancellation instruction to the elevator control system through a suitable communication method (for example, WiFi network, Zigbee, etc.), so that the elevator control system terminates the current operation instruction after receiving the boarding cancellation instruction. The current operation instruction is used to instruct the elevator to go to the target floor. After receiving the boarding cancellation instruction, the elevator control system terminates the current operation instruction to control the elevator to stop going to the target floor, thereby pausing the boarding operation being performed by the robot.

[0088] In some embodiments, when the robot is performing an exit-elevator operation, the robot needs to first pause the exit-elevator operation and then perform a corresponding task change operation.

[0089] In some embodiments, the elevator operation is paused based on the elevator operation, specifically including but not limited to the following steps S140:

[0090] S140: If the robot is performing an exit operation, the exit operation is paused, and a second release instruction is sent to the elevator control system, so that the elevator control system terminates the second hold instruction for keeping the elevator car door open after receiving the second release instruction.

[0091] Specifically, when the robot receives a task change request and responds to the task change request, if the robot is performing an exit operation to leave the elevator car, the exit operation being performed is paused and the robot stops leaving the elevator car. For example, the exit operation is paused by stopping forward movement or stopping a task executor.

[0092] In some embodiments, after the robot pauses the exit operation, it can send a second release instruction to the elevator control system through a suitable communication method (e.g., WiFi network, Zigbee, etc.), so that the elevator control system terminates the second hold instruction after receiving the second release instruction. The second hold instruction is used to keep the elevator car door open so that the robot can leave the elevator car. After receiving the second release instruction, the elevator control system terminates the second hold instruction and releases the state of keeping the elevator car door open, so that the elevator car door closes normally, and the elevator can be used normally by other robots or pedestrians and run to the target floor called by other robots or pedestrians.

[0093] S200: Based on the task change request, change the task list of the robot.

[0094] Specifically, the information of the task to be changed is extracted from the received task change request, such as the task type, priority, target location, etc. Then, according to the information of the task to be changed, the corresponding change operation is performed to obtain the changed task list. For example, when the task to be changed is a task to be added, the task to be changed is added to the robot's task list. When the task to be changed is a task to be deleted, the task to be deleted is found from the robot's task list and deleted. When the task to be changed is a task to be modified, the task to be modified is found from the robot's task list and modified, etc.

[0095] It can be understood that the task list contains one or more tasks, and the information of each task includes task type, priority, target location, etc.

[0096] After the task list is changed, the execution order of the tasks in the task list can be readjusted according to the priority of each task in the task list to ensure that high-priority tasks are executed first.

[0097] In some embodiments, before changing a task, the status and progress of the current task may be saved, so that the current task can be restored or provided as a reference after the task change is completed or when necessary.

[0098] In some embodiments, after completing the task change, each task in the changed task list can be verified to ensure that there is no conflict in the execution content and execution time between the tasks, and that each task is within the execution capability of the robot.

[0099] It can be understood that in addition to adding, modifying or deleting tasks in the task list, the task change request can also reorder the existing tasks in the task list. That is, the task change request may not change the task, but reorder the existing tasks to readjust the execution order of the existing tasks and improve the efficiency of the robot task execution.

[0100] In some embodiments, when the received task change request involves adding, modifying or deleting a task, the robot will add, modify or delete the corresponding task in the task list.

[0101] See also Figure 5 , Figure 5 A sub-flow diagram of step S200 in the task change processing method provided by some embodiments of the present invention is shown.

[0102] In some embodiments, based on the task change request, the task list of the robot is changed, including but not limited to the following steps S210-S230:

[0103] S210: If the task change request is a task add request, then add the to-be-added task corresponding to the task add request to the task list of the robot.

[0104] S220: If the task change request is a task modification request, modify the task to be modified corresponding to the task modification request in the task list of the robot.

[0105] S230: If the task change request is a task cancellation request, cancel the to-be-canceled task corresponding to the task cancellation request in the task list of the robot.

[0106] Specifically, the information of the task to be changed is extracted from the received task change request, such as the task type, priority, target location, etc. Then, according to the information of the task to be changed, the corresponding change operation is performed to obtain a changed task list.

[0107] In some embodiments, if the task change request is a task add request, that is, the extracted task to be changed is a task to be added, then the task to be added corresponding to the task add request is added to the robot's task list to obtain a task list after the task is added.

[0108] In some embodiments, if the task change request is a task modification request, that is, the extracted task to be changed is a task to be modified, then the task to be modified corresponding to the task modification request in the robot's task list is modified to obtain a task list after the task is modified.

[0109] In some embodiments, if the task change request is a task cancellation request, that is, the extracted task to be changed is a task to be cancelled, then the task to be cancelled corresponding to the task cancellation request in the robot's task list is cancelled to obtain a task list after the task is cancelled.

[0110] After executing corresponding change processing operations (such as adding, modifying or canceling) according to the information of the task to be changed and obtaining the changed task list, the robot re-executes the corresponding elevator operation according to the changed task list to complete the corresponding task.

[0111] In some embodiments, when the robot changes tasks, it is necessary to first determine the validity of the task to be changed to ensure that the task to be changed can be effectively executed, avoid changing and executing invalid tasks, and thus improve task execution efficiency.

[0112] See also Figure 6 , Figure 6 Another sub-flow diagram of step S200 in the task change processing method provided by some embodiments of the present invention is shown.

[0113] Exemplarily, based on the task change request, the task list of the robot is changed, which specifically includes but is not limited to the following steps S240-S260:

[0114] S240: Check the validity of the task to be changed.

[0115] The validity of the task to be changed can be determined by checking the format, content, resource availability, and environmental conditions of the task to be changed.

[0116] Specifically, it is detected whether the format of the task to be changed is correct, that is, whether all the required fields (e.g., task ID, task type, priority, and target location, etc.) exist, and the format of the fields is legal and correct. For example, whether the task ID is a unique identifier. If all the required fields (e.g., task ID, task type, priority, and target location, etc.) exist, and the format of the fields is legal and correct, then the task to be changed is valid, otherwise, the task to be changed is invalid.

[0117] Alternatively, check whether the specific content of the task to be changed is reasonable, for example, whether the target floor exists and is within the service range of the elevator, whether the priority is within the allowed execution range, and whether the task type is a type that the robot can execute. If the specific content of the task to be changed is reasonable, the task to be changed is valid, otherwise, the task to be changed is invalid.

[0118] Alternatively, check whether the robot and related resources (such as elevators, paths, etc.) are available when executing the task after the task list is changed. For example, check whether the robot is in a state where it can accept new tasks, such as being idle or the current task can be interrupted, whether the elevator is running normally, and whether the path is unobstructed. If the robot and related resources (such as elevators, paths, etc.) are available when executing the task after the task list is changed, the task to be changed is valid, otherwise, the task to be changed is invalid.

[0119] Alternatively, check whether the environmental conditions allow the task to be executed, such as whether the elevator is operating normally, whether the target floor is reachable, and whether the path is unobstructed. Check whether there are temporary environmental factors that affect the task execution, such as elevator maintenance, floor closure, etc. If the environmental conditions allow the task to be executed, the task to be changed is valid, otherwise, the task to be changed is invalid.

[0120] Alternatively, in some embodiments, it is also possible to determine whether the task to be changed is valid by detecting whether there is a conflict between the task to be changed and the task in the current task list, for example, the target floor is the same but the task is different, or there are multiple high-priority tasks at the same time, ensuring that the tasks are not repeated and do not interfere with each other, avoiding interference and duplication between tasks. If the task to be changed does not conflict with the task in the current task list, the task to be changed is valid, otherwise, the task to be changed is invalid.

[0121] Alternatively, in some embodiments, it is also possible to detect whether the robot has the authority required to perform the task to be changed, such as the authority to enter a specific area or operate a specific device, and to detect whether the robot meets safety requirements when performing the task to be changed, such as avoiding using elevators during peak hours or operating outside a safe area. If the robot has the authority required to perform the task to be changed, the task to be changed is valid, otherwise, the task to be changed is invalid. Alternatively, if the robot meets safety requirements when performing the task to be changed, the task to be changed is valid, otherwise, the task to be changed is invalid.

[0122] S250: If the task to be changed is invalid, the task list is maintained unchanged.

[0123] S260: If the task to be changed is valid, perform an add operation, a modify operation, or a cancel operation on the task to be changed.

[0124] Specifically, when the task to be changed does not satisfy any of the above tests or checks, it means that the task to be changed is invalid, and the task list of the robot is not changed, and the task list remains unchanged.

[0125] In some embodiments, if the tasks to be changed satisfy any of the above-mentioned tests or checks, it means that the tasks to be changed are valid. The robot changes the task list according to the tasks to be changed corresponding to the task change request, that is, performs an add operation, a modify operation or a cancel operation on the tasks to be changed to obtain a changed task list.

[0126] S300: Execute elevator operation based on the changed task list.

[0127] Specifically, after changing the task list of the robot to obtain a changed task list, tasks involving elevator operation are identified from the changed task list, wherein the elevator operation includes elevator entry operation, boarding operation and elevator exit operation.

[0128] After the task list is changed, when executing a task involving elevator operation, that is, a task requiring taking an elevator, the corresponding elevator operation is performed according to the corresponding execution content of the task of taking the elevator. For example, in some embodiments, when the elevator operation previously suspended by the current task is a taking operation, after the task list is changed, the current task is continued to be executed, and the taking operation is re-executed to complete the execution of the current task.

[0129] In some embodiments, there is a delivery item task in the task list of the robot. For the delivery item task, it is necessary to load or unload the to-be-delivered items corresponding to the changed delivery item task.

[0130] See also Figure 7 , Figure 7 A sub-flow diagram of step S300 in the task change processing method provided by some embodiments of the present invention is shown.

[0131] In some embodiments, based on the changed task list, elevator operation is performed, including but not limited to the following steps S310-S340:

[0132] S310: Determine a positional relationship between the robot and the elevator, where the positional relationship includes the robot being located outside the elevator and the robot being located inside the elevator.

[0133] Specifically, the positional relationship between the robot and the elevator includes the robot being located outside the elevator and the robot being located inside the elevator.

[0134] In some embodiments, the positional relationship between the robot and the elevator can be determined in real time through sensors (such as infrared sensors, ultrasonic sensors, etc.), RFID, NFC, cameras, or positioning systems, etc. For example, RFID readers or NFC devices are installed inside and outside the elevator, and the robot is equipped with a corresponding tag. When the robot enters or leaves the elevator, the RFID reader or NFC device recognizes the tag equipped with the robot, and then updates the position status of the robot, thereby determining the positional relationship between the robot and the elevator.

[0135] In some possible implementations, the robot scans and obtains surrounding environment data through a camera equipped on itself, and uses computer vision, image processing and other technologies to process the obtained surrounding environment data to identify whether it enters or leaves the elevator, thereby determining the positional relationship between the robot and the elevator, that is, whether the robot is outside the elevator, or the robot is inside the elevator.

[0136] In some embodiments, the robot can also track the robot's position in real time by being equipped with its own positioning system (for example, lidar, GPS, odometer, etc.), and compare it with the building map, and determine the robot's current position in combination with the positioning data, thereby determining whether the robot is outside or inside the elevator.

[0137] S320: If the robot is located outside the elevator, it moves to the article loading and unloading area to load or unload the to-be-delivered articles corresponding to the changed article delivery task in the article loading and unloading area.

[0138] For example, if it is determined that the robot is located outside the elevator, for the object delivery task, it is necessary to reload or unload the objects to be delivered corresponding to the changed object delivery task.

[0139] Specifically, the robot plans a driving path from the current position to the item loading and unloading area through a preset electronic map and a path planning algorithm (e.g., A* algorithm, Dijkstra algorithm, etc.). After the driving path is planned, the robot drives to the item loading and unloading area according to the driving path. In the item loading and unloading area, the robot identifies the changed delivery task, and then determines the items to be delivered that need to be loaded or unloaded according to the changed delivery task, and loads or unloads the corresponding items to be delivered through a robotic arm or other device.

[0140] S330: If the robot is located inside the elevator, the robot performs an exit operation to leave the elevator car.

[0141] S340: After leaving the elevator car, the vehicle travels to the article loading and unloading area to load or unload the articles to be delivered corresponding to the changed delivery task in the article loading and unloading area.

[0142] For example, if it is determined that the robot is located inside the elevator, for the task of delivering items, it is necessary to execute the elevator exit operation, leave the elevator car, and then drive to the item loading and unloading area to reload or unload the items to be delivered corresponding to the changed delivery task.

[0143] Specifically, the robot sends an elevator opening command to the elevator control system. After receiving the elevator opening command, the elevator control system sends a hold command to the elevator to keep the elevator car door open, so that the elevator keeps the elevator car door open. When the elevator car door is opened, the robot moves inside the elevator along a preset exit path, performs the exit operation, and drives out of the elevator car.

[0144] After the robot is determined to have left the elevator car through sensors (such as infrared sensors, ultrasonic sensors, etc.), RFID, NFC, cameras or positioning systems, the robot plans a driving path from the current position to the item loading and unloading area through a preset electronic map and path planning algorithm (such as A* algorithm, Dijkstra algorithm, etc.). After the driving path is planned, the robot drives to the item loading and unloading area according to the driving path. In the item loading and unloading area, the robot identifies the changed delivery task, and then determines the items to be delivered that need to be loaded or unloaded according to the changed delivery task, and loads or unloads the corresponding items to be delivered through a robotic arm or other device.

[0145] In some embodiments, the robot needs to determine whether there is a task in the changed task list and the positional relationship between the robot and the elevator, and perform corresponding elevator operations.

[0146] See also Figure 8 , Figure 8 Another sub-flow diagram of step S300 in the task change processing method provided by some embodiments of the present invention is shown.

[0147] Exemplarily, based on the changed task list, elevator operation is performed, which specifically includes but is not limited to the following steps S350-S390:

[0148] S350: Determine a positional relationship between the robot and the elevator, where the positional relationship includes the robot being located outside the elevator and the robot being located inside the elevator.

[0149] Specifically, the positional relationship between the robot and the elevator includes the robot being located outside the elevator and the robot being located inside the elevator.

[0150] In some embodiments, the positional relationship between the robot and the elevator can be determined in real time through sensors (such as infrared sensors, ultrasonic sensors, etc.), RFID, NFC, cameras, or positioning systems, etc. For example, RFID readers or NFC devices are installed inside and outside the elevator, and the robot is equipped with a corresponding tag. When the robot enters or leaves the elevator, the RFID reader or NFC device recognizes the tag equipped with the robot, and then updates the position status of the robot, thereby determining the positional relationship between the robot and the elevator.

[0151] In some possible implementations, the robot scans and obtains surrounding environment data through a camera equipped on itself, and uses computer vision, image processing and other technologies to process the obtained surrounding environment data to identify whether it enters or leaves the elevator, thereby determining the positional relationship between the robot and the elevator, that is, whether the robot is outside the elevator, or the robot is inside the elevator.

[0152] In some embodiments, the robot can also track the robot's position in real time by being equipped with its own positioning system (for example, lidar, GPS, odometer, etc.), and compare it with the building map, and determine the robot's current position in combination with the positioning data, thereby determining whether the robot is outside or inside the elevator.

[0153] S360: If the robot is located inside the elevator and the changed task list includes at least one task, a target floor that needs to be reached first is determined based on the at least one task, so that the elevator runs to the target floor that needs to be reached first.

[0154] Specifically, if it is determined that the robot is located inside the elevator, and it is detected that the changed task list of the robot includes at least one task, the tasks in the task list are parsed to obtain the arrival floors corresponding to the tasks, and then the target floors that need to be reached first are determined from the arrival floors corresponding to the tasks according to the priorities of the tasks or other rules (e.g., time urgency), for example, the arrival floor corresponding to the task with the highest priority is selected as the target floor that needs to be reached first. After determining the target floor that needs to be reached first, a target floor instruction is sent to the elevator control system, so that the elevator control system controls the elevator to run to the target floor that needs to be reached first after receiving the target floor instruction.

[0155] S370: If the robot is located inside the elevator and the changed task list includes zero tasks, an exit operation is performed to leave the elevator car.

[0156] Exemplarily, if it is determined that the robot is located inside the elevator, and detection determines that the robot's changed task list includes at least zero tasks, indicating that the robot no longer has tasks to perform, it is necessary to perform an exit operation to drive out of the elevator car.

[0157] Specifically, the robot sends an elevator opening command to the elevator control system. After receiving the elevator opening command, the elevator control system sends a hold command to the elevator to keep the elevator car door open, so that the elevator keeps the elevator car door open. When the elevator car door is opened, the robot moves inside the elevator along a preset exit path, performs the exit operation, and drives out of the elevator car.

[0158] S380: If the robot is outside the elevator and the changed task list includes at least one task, an elevator call instruction is sent to the elevator control system so that after receiving the elevator call instruction, the elevator control system controls the elevator to run to the floor where the robot is located so that the robot can take the elevator.

[0159] Exemplarily, if it is determined that the robot is outside the elevator, and detection determines that the changed task list of the robot includes at least one task, it means that the robot needs to take the elevator again to perform at least one task in the task list.

[0160] Specifically, the robot sends an elevator call instruction to the elevator control system, so that after receiving the elevator call instruction, the elevator control system controls the elevator to run to the robot's current floor, so that the robot can take the elevator. After receiving the elevator call instruction, the elevator control system parses the elevator call instruction to obtain information about the robot's floor, and controls the elevator to run to the robot's current floor according to the information about the robot's floor, so that the robot can take the elevator.

[0161] S390: If the robot is outside the elevator and the changed task list includes zero tasks, it moves to the waiting area.

[0162] Exemplarily, if it is determined that the robot is outside the elevator, and detection determines that the robot's changed task list includes zero tasks, indicating that the robot no longer has tasks to perform, the robot moves to the waiting area.

[0163] Specifically, the robot plans a driving path from the robot's current position to the waiting area through a preset electronic map and path planning algorithm (for example, A* algorithm and Dijkstra algorithm, etc.). After the driving path is planned, the robot drives to the waiting area according to the driving path.

[0164] To summarize, the task change processing method provided by the embodiment of the present invention includes: in the process of the robot performing elevator operation, in response to a received task change request, pausing the elevator operation based on the elevator operation, the elevator operation including entering the elevator operation, boarding the elevator operation and exiting the elevator operation; based on the task change request, changing the task list of the robot; and performing the elevator operation based on the changed task list.

[0165] In the present invention, during the process of performing elevator operations, the robot pauses the current elevator operation without initializing or canceling the current task, and flexibly updates the task list to ensure the consistency and efficiency of task execution, thereby improving task execution efficiency and enhancing user experience.

[0166] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the task change processing methods provided by the embodiments of the present invention, or executes steps in any one of the possible implementation methods of any one of the task change processing methods provided by the embodiments of the present invention.

[0167] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM or other memory, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0168] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0169] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (for example, files storing one or more modules, subroutines, or code portions).

[0170] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0171] The technicians can understand that the embodiments provided by the present invention are only illustrative, and the writing order of each step in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs. The modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0172] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0173] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A task change processing method, applied to a robot, characterized in that: The method comprises: In the process of the robot performing an elevator operation, in response to a received task change request, performing a suspending elevator operation based on the elevator operation, wherein the elevator operation includes an elevator entry operation, a boarding operation, and an elevator exit operation; Based on the task change request, change the task list of the robot; Based on the changed task list, elevator operation is performed.

2. The method according to claim 1, characterized in that The step of performing suspending elevator operation based on the elevator operation comprises: If the robot is performing an elevator entry operation, the robot pauses the elevator entry operation and moves to a waiting area, wherein the waiting area is set outside the elevator; A first release instruction is sent to the elevator control system, so that the elevator control system terminates a first holding instruction for keeping the elevator car door in an open state after receiving the first release instruction.

3. The method according to claim 1, characterized in that: The step of performing suspending elevator operation based on the elevator operation comprises: If the robot is performing a boarding operation, the boarding operation is suspended, and a boarding cancellation instruction is sent to the elevator control system, so that the elevator control system terminates the operation instruction to the target floor after receiving the boarding cancellation instruction.

4. The method according to claim 1, characterized in that The step of performing suspending elevator operation based on the elevator operation comprises: If the robot is performing an exit operation, the exit operation is suspended, and a second release instruction is sent to the elevator control system, so that the elevator control system terminates the second hold instruction for keeping the elevator car door open after receiving the second release instruction.

5. The method according to any one of claims 1 to 4, characterized in that: The step of changing the task list of the robot based on the task change request includes: If the task change request is a task adding request, adding the to-be-added task corresponding to the task adding request to the task list of the robot; If the task change request is a task modification request, modifying the task to be modified corresponding to the task modification request in the task list of the robot; If the task change request is a task cancellation request, the to-be-canceled task corresponding to the task cancellation request in the task list of the robot is canceled.

6. The method according to any one of claims 1 to 4, characterized in that: The task list includes a delivery task, and the performing of the elevator operation based on the changed task list includes: determining a positional relationship between the robot and the elevator, the positional relationship including that the robot is located outside the elevator and that the robot is located inside the elevator; If the robot is located outside the elevator, the robot moves to the article loading and unloading area to load or unload the articles to be delivered corresponding to the changed delivery task in the article loading and unloading area; If the robot is located inside the elevator, performing an exit operation to leave the elevator car; After leaving the elevator car, the vehicle moves to the article loading and unloading area to load or unload the articles to be delivered corresponding to the changed article delivery task in the article loading and unloading area.

7. The method according to any one of claims 1 to 4, characterized in that: The performing of elevator operation based on the changed task list includes: determining a positional relationship between the robot and the elevator, the positional relationship including that the robot is located outside the elevator and that the robot is located inside the elevator; If the robot is located inside the elevator, and the changed task list includes at least one task, determining a target floor that needs to be reached first according to the at least one task, so that the elevator runs to the target floor that needs to be reached first; If the robot is located inside the elevator and the changed task list includes zero tasks, performing an exit operation to leave the elevator car; If the robot is located outside the elevator and the changed task list includes at least one task, an elevator call instruction is sent to the elevator control system, so that after receiving the elevator call instruction, the elevator control system controls the elevator to run to the floor where the robot is located, so that the robot can take the elevator; If the robot is outside the elevator and the changed task list includes zero tasks, the robot moves to the waiting area.

8. The method according to claim 1, characterized in that The step of changing the task list of the robot based on the task change request includes: Check the effectiveness of the tasks to be changed; If the task to be changed is invalid, the task list is maintained unchanged; If the task to be changed is valid, an adding operation, a modifying operation or a canceling operation is performed on the task to be changed.

9. A robot, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes the task change processing method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes the task change processing method according to any one of claims 1 to 8.

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