A driving control method and system for an indoor robot

Abstract

The present invention relates to the field of robot control technology, and specifically discloses a drive control method and system for an indoor robot, the method comprising receiving a service request sent by a workstation, obtaining device permissions of the workstation, and determining resource consumption parameters according to the device permissions and service requests; constructing a transmission channel based on the resource consumption parameters, and setting at least one listening point in the transmission channel; real-time statistics of transmission data according to the listening point, and calculating the activity of the workstation according to the transmission data; selecting a robot according to the activity of the workstation, generating a motion instruction pointing to the workstation, and synchronously generating a pairing code according to the transmission data, and sending it to the workstation. The present invention determines the activity of each workstation according to the transmission data of each workstation, adjusts the number of auxiliary robots in real time according to the activity, and drives and controls all auxiliary robots based on the number of auxiliary robots, with extremely high flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a driving control method and system for an indoor robot. Background Art

[0002] With the rapid development of random AI, AI has gradually entered production and life. It has a very high ability to understand instructions and will bring great changes to the existing intelligent production workshops. The most obvious application is AI robots, which are used to assist the work of various workstations.

[0003] AI robots can understand and execute extremely complex instructions, which can increase production speed and optimize production structure, but they also follow the most basic rules. The more AI robots there are, the more work they can complete. As for how many AI robots are equipped at different workstations, the existing solution to this problem is to pre-set a fixed number to complete the work at each workstation. This method is actually very inflexible and very crude compared to the high performance of AI robots, which affects the intelligence level of intelligent workshops. Therefore, the optimization drive control problem of AI robots is a problem that needs to be solved. Summary of the invention

[0004] The object of the present invention is to provide a driving control method and system for an indoor robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A driving control method for an indoor robot, the method comprising:

[0007] Receive service requests sent by the workstation, obtain device permissions of the workstation, and determine resource consumption parameters based on device permissions and service requests;

[0008] Building a transmission channel based on the resource consumption parameter, and setting at least one monitoring point in the transmission channel;

[0009] According to the monitoring point, the transmission data is counted in real time, and the activity of the workstation terminal is calculated according to the transmission data;

[0010] The robot is selected according to the activity of the workstation, and motion instructions directed to the workstation are generated. A pairing code is simultaneously generated based on the transmitted data and sent to the workstation.

[0011] As a further solution of the present invention, the steps of receiving a service request sent by a workstation terminal, obtaining device permissions of the workstation terminal, and determining resource consumption parameters according to the device permissions and the service request include:

[0012] Receive service requests from the workstation terminal, send device permission acquisition requests to the workstation terminal, and receive device permissions granted by the workstation terminal;

[0013] Querying device rated parameters and device usage records based on the device permissions;

[0014] The equipment occupancy rate at each moment is calculated based on the equipment rated parameters and equipment usage records as a resource consumption parameter.

[0015] As a further solution of the present invention, the step of constructing a transmission channel based on the resource consumption parameter and setting at least one monitoring point in the transmission channel includes:

[0016] Calculate the mean and standard deviation of resource consumption parameters;

[0017] Determine a standard Gaussian function using the mean and standard deviation;

[0018] Features are extracted from the standard Gaussian function, and the number of monitoring points is determined according to the features.

[0019] As a further solution of the present invention, the step of collecting real-time statistics of transmission data according to the monitoring points and calculating the activity of the workstation terminal according to the transmission data includes:

[0020] According to the real-time statistics of the transmission data at the monitoring point, when the monitoring point is not unique, performing an XOR operation on the statistical results of different monitoring points, and generating an error message when the XOR operation is one;

[0021] extracting label information and data volume of the transmitted data, and creating a graph unit according to the label information;

[0022] Under the preset arrangement rules, all graph units are counted based on time to obtain a transmission data graph;

[0023] The transmission data graph is identified and the activity of the workstation end is calculated.

[0024] As a further solution of the present invention, the step of extracting the tag information and the data volume of the transmitted data and creating a graph unit according to the tag information may include:

[0025] Extracting label information of the transmission data, and selecting a color value from a preset color value library according to the label information, wherein the color value library includes label items, color value items, and level items; the level is used to characterize the importance of the transmission data;

[0026] Acquiring the data volume of the transmitted data, analyzing the data volume, and determining the unit size;

[0027] Create graph cells based on color value and cell size;

[0028] The step of identifying the transmission data graph and calculating the activity of the workstation terminal includes:

[0029] Query the color value types in the transmission data graph, and split the transmission data graph into layers based on the color value types;

[0030] Calculate the data volume based on the layer, and determine the activity of the workstation based on the data volume.

[0031] As a further solution of the present invention, the steps of selecting a robot according to the activity of the workstation, generating a motion instruction directed to the workstation, and synchronously generating a pairing code according to the transmission data and sending the code to the workstation include:

[0032] Determine the required number of robots according to the activity of the workstation end; wherein the relationship between the required number and the activity is stored in a preset table;

[0033] When the actual number of robots at the workstation end is not less than the required number, the difference between the actual number and the required number is calculated, and robots with the difference are released as idle robots;

[0034] When the actual number of robots at a workstation is less than the required number, an idle robot is selected in ascending order of distance, and a motion instruction is generated and sent to the current workstation. The transmission data within a preset time is intercepted, input into a trained transcoding model, and a pairing code is obtained, which is then sent to the idle robot.

[0035] The technical solution of the present invention also provides a drive control system for an indoor robot, the system comprising:

[0036] The consumption determination module is used to receive the service request sent by the workstation, obtain the device authority of the workstation, and determine the resource consumption parameters according to the device authority and the service request;

[0037] A monitoring point setting module, used to construct a transmission channel based on the resource consumption parameter and set at least one monitoring point in the transmission channel;

[0038] An activity calculation module, used to collect statistics of transmission data in real time according to the monitoring points, and calculate the activity of the workstation terminal according to the transmission data;

[0039] The robot control module is used to select the robot according to the activity of the workstation, generate motion instructions directed to the workstation, and simultaneously generate a pairing code based on the transmission data and send it to the workstation.

[0040] As a further solution of the present invention, the consumption determination module includes:

[0041] The permission acquisition unit is used to receive a service request sent by the workstation terminal, send a device permission acquisition request to the workstation terminal, and receive the device permission granted by the workstation terminal;

[0042] A data query unit, used to query device rated parameters and device usage records based on the device authority;

[0043] The data application unit is used to calculate the equipment occupancy rate at each moment according to the equipment rated parameters and equipment usage records as a resource consumption parameter.

[0044] As a further solution of the present invention, the monitoring point setting module includes:

[0045] A channel establishment unit is used to read the unit time resource quantity and the usage time, build a transmission channel according to the unit time resource quantity, and determine the duration according to the usage time; during the duration of the transmission channel, encrypt the adjustment port of the transmission channel through a preset priority threshold;

[0046] A stability value calculation unit, used to query the historical resource records of the workstation based on the device authority, and calculate the stability value of the workstation according to the historical resource records; , where W is the stability value of the workstation end, and are the first and last moments of the i-th resource process; is the final resource quantity per unit time in the i-th resource process; is the required resource quantity for the i-th resource process, is the correction factor;

[0047] The insertion execution unit is used to determine the number of monitoring points according to the station end stability value, and insert the monitoring points in the transmission channel based on the number.

[0048] As a further solution of the present invention, the activity calculation module includes:

[0049] An XOR operation unit, used for collecting statistics of transmission data in real time according to the monitoring points, and when the monitoring points are not unique, performing XOR operation on the statistical results of different monitoring points, and generating error information when the XOR operation is one;

[0050] A graph unit creation unit, used to extract label information and data volume of the transmitted data, and create a graph unit according to the label information;

[0051] A data statistics unit, used to count all graph units based on time under a preset arrangement rule to obtain a transmission data graph;

[0052] The calculation execution unit is used to identify the transmission data graph and calculate the activity of the workstation end.

[0053] Compared with the prior art, the beneficial effects of the present invention are: the present invention determines the activity of each workstation according to the transmission data of each workstation, adjusts the number of auxiliary robots in real time according to the activity, and drives and controls all auxiliary robots based on the number of auxiliary robots, with extremely high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0055] Figure 1 The flowchart of the driving control method of the indoor robot is shown in FIG.

[0056] Figure 2 This is the structural block diagram of the drive control system of the indoor robot. DETAILED DESCRIPTION

[0057] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] Figure 1 : is a flow chart of a driving control method for an indoor robot. In an embodiment of the present invention, a driving control method for an indoor robot includes:

[0059] Step S100: receiving a service request sent by the workstation terminal, obtaining device permissions of the workstation terminal, and determining resource consumption parameters according to the device permissions and the service request;

[0060] Step S200: constructing a transmission channel based on the resource consumption parameter, and setting at least one monitoring point in the transmission channel;

[0061] Step S300: Counting the transmission data in real time according to the monitoring point, and calculating the activity of the workstation terminal according to the transmission data;

[0062] Step S400: Select a robot according to the activity of the workstation, generate a motion instruction directed to the workstation, and simultaneously generate a pairing code based on the transmission data and send it to the workstation.

[0063] In the technical solution of the present invention, the workstation terminal is the controller of each workstation in the indoor environment. The workstation terminal sends a service request, indicating that a robot is needed to participate in auxiliary work. At this time, the indoor environment management party obtains the historical work information of the workstation terminal, and determines the number of monitoring points based on its historical work information to obtain real-time data of the workstation terminal; determines the activity of each workstation terminal based on the real-time data, and adjusts the limited robots based on the activity, that is, enables the robots to provide assistance to more active workstation terminals.

[0064] Specifically, if the indoor environment is a production workshop, the robots and individual workstations are actually managed by the management of the production workshop. However, not every workstation requires a robot. Therefore, it is necessary to first determine which workstations require robot-assisted work, then establish a transmission channel, and finally adjust the robot's control process based on real-time data.

[0065] Regarding step S100, the steps of receiving a service request sent by a workstation terminal, obtaining device permissions of the workstation terminal, and determining resource consumption parameters according to the device permissions and service requests include:

[0066] Step S101: receiving a service request sent by a workstation terminal, sending a device permission acquisition request to the workstation terminal, and receiving device permissions granted by the workstation terminal;

[0067] Step S102: querying device rated parameters and device usage records based on the device authority;

[0068] Step S103: Calculate the equipment occupancy rate at each moment according to the equipment rated parameters and equipment usage records as a resource consumption parameter.

[0069] In an example of the technical solution of the present invention, the initial analysis process of the workstation terminal is defined. First, the authority of the workstation terminal is obtained, because the workstation terminal is actually a collection of some production equipment and production personnel. There is a data transmission process between them. Data transmission involves authority issues. If the relevant authority is not possessed, other work is meaningless. In actual applications, since the management party of the workstation terminal and the robot is the same, the authority acquisition process can be omitted; according to the authority granted by the workstation terminal, the rated parameters of the equipment (how much resources are theoretically occupied) and the equipment usage record (how much resources are actually occupied when the workstation terminal is in use) can be queried. The equipment usage record represents the real-time usage parameters at each moment, and the ratio of the real-time usage parameters to the rated parameters is calculated, and the obtained ratio is used as the equipment occupancy rate; wherein, the selected time point is determined by the frequency predetermined by the management party, such as collecting two time points in one second to calculate the equipment occupancy rate.

[0070] Regarding step S200, the step of constructing a transmission channel based on the resource consumption parameter and setting at least one monitoring point in the transmission channel includes:

[0071] Step S201: Calculate the mean and standard deviation of resource consumption parameters;

[0072] Step S202: Determine a standard Gaussian function using the mean and standard deviation;

[0073] Step S203: extracting features from the standard Gaussian function, and determining the number of monitoring points according to the features.

[0074] After the equipment occupancy rate is calculated, it is an array, and a value is determined by the array as the number of monitoring points. It is actually very simple. There are also many existing ways to achieve this dimensionality reduction purpose. In the above content, a specific processing solution is provided. Its advantage is that it combines the mean and standard deviation at the same time, and determines the standard Gaussian function of the mean and standard deviation. The two unknown parameters in the standard Gaussian function are the mean and standard deviation. After the standard Gaussian function is determined, features are extracted from the function, such as multi-order derivatives or integrals, and then the number of monitoring points is determined by the features. The processing depth and breadth of this method are very high. Of course, you can also create multiple samples of equipment occupancy rate to quantity first, and then train a conversion model, but this method is very inconvenient. The above content actually expands the types of parameters (continuing the original discrete data and then performing function operations).

[0075] Regarding step S300, the step of collecting statistics of transmission data in real time according to the monitoring point and calculating the activity of the workstation terminal according to the transmission data includes:

[0076] Step S301: Counting transmission data in real time according to the monitoring point, and when the monitoring point is not unique, performing an XOR operation on the statistical results of different monitoring points, and generating an error message when the XOR operation is one;

[0077] Step S302: extracting the label information and data volume of the transmitted data, and creating a graph unit according to the label information;

[0078] Step S303: Under a preset arrangement rule, all graph units are counted based on time to obtain a transmission data graph;

[0079] Step S304: Identify the transmission data graph and calculate the activity of the workstation terminal.

[0080] In an example of the technical solution of the present invention, transmission data is acquired and counted by monitoring points. If there are many monitoring points, an additional comparison link will be set. In the same transmission channel, the monitoring results of multiple monitoring points should be the same, and whether they are the same can be calculated by a simple XOR operation.

[0081] Furthermore, the label information of the transmitted data represents what kind of task is currently being performed. Different task complexities will generate different levels of activity. The graph unit created by the label information can be a graph unit of the same shape but different color values, which is used to represent different label information. The amount of transmitted data represents how much work has been completed. Different workloads will generate different levels of activity, which can be represented by the size of the graph unit.

[0082] After the above processing, multiple graphic units reflecting the transmission data can be obtained. By arranging the graphic units according to the preset arrangement rules, a transmission data graph can be obtained. The arrangement rules reflect the time change information. The simplest way is to arrange the graphic units from left to right in chronological order. Considering the total graph size, line breaking rules will be introduced during the arrangement. When there are more graphic units in a row, they will be arranged in lines.

[0083] Thus, the transmitted data is converted into a total image composed of multiple image units, for example, a total image containing multiple circles of different color values ​​and different sizes.

[0084] Furthermore, the step of extracting the tag information and the data volume of the transmitted data and creating a graph unit according to the tag information may include:

[0085] Extracting label information of the transmission data, and selecting a color value from a preset color value library according to the label information, wherein the color value library includes label items, color value items, and level items; the level is used to characterize the importance of the transmission data;

[0086] Acquiring the data volume of the transmitted data, analyzing the data volume, and determining the unit size;

[0087] Create graph cells based on color value and cell size;

[0088] The above content limits the generation process of the graph unit, limits the shape of the graph unit to the same shape (such as a circle), uses color values ​​to reflect label information, sizes to reflect data volume, and positions to reflect time information.

[0089] Specifically, the step of identifying the transmission data graph and calculating the activity of the workstation terminal includes:

[0090] Query the color value types in the transmission data graph, and split the transmission data graph into layers based on the color value types;

[0091] Calculate the data volume based on the layer, and determine the activity of the workstation based on the data volume.

[0092] After the transmission data is converted into a transmission data graph, the transmission data graph is segmented to obtain multiple layers; the segmentation method is:

[0093] Under the premise of ensuring that the position remains unchanged, the image units with different color values ​​are extracted to create multiple layers; the layers are labeled with color values, and the color values ​​of the image units in the same layer are the same.

[0094] Calculate the amount of data in each layer and convert the data into value; the method for calculating the data amount is very simple, count the number of pixels with color values, read the level of the color value, determine the weight of the number of pixels according to the level, and sum the number of pixels of all layers based on the weight.

[0095] Regarding step S400, the steps of selecting a robot according to the activity of the workstation, generating a motion instruction directed to the workstation, and synchronously generating a pairing code according to the transmission data and sending it to the workstation include:

[0096] Step S401: determining the required number of robots according to the activity of the workstation end; wherein the relationship between the required number and the activity is stored in a preset table;

[0097] Step S402: when the actual number of robots at the workstation end is not less than the required number, the difference between the actual number and the required number is calculated, and robots equal to the difference are released as idle robots;

[0098] Step S403: When the actual number of robots at the workstation is less than the required number, select an idle robot in ascending order of distance, generate and send a motion instruction pointing to the current workstation; intercept the transmission data within the preset time, input the trained transcoding model, obtain the pairing code, and send the pairing code to the idle robot.

[0099] In an example of the technical solution of the present invention, a specific robot control process is described. The required number of robots is determined according to the activity of the workstation end. After the required number is determined, for any workstation end, when the actual number of robots at the workstation end is not less than the required number, the difference between the actual number and the required number is calculated, and robots with the difference are released as idle robots. If the actual number is equal to the required number, the number of idle robots is zero; when the actual number of robots at the workstation end is less than the required number, an idle robot is selected in increasing order of distance, and a motion instruction pointing to the current workstation end is generated and sent. At the same time, the transmission data within a preset time is intercepted, and the trained transcoding model is input to obtain a pairing code, and the pairing code is sent to the idle robot.

[0100] In layman's terms, for the above process, for any workstation, there will be several robots around it to assist in the work. When the activity level decreases, several robots will be released. If the surrounding workstations need more robots at this time, a request for auxiliary work will be sent to the nearest idle robot. Of course, if the activity level of all workstations becomes high, it is necessary to call robots from the spare robot library and put them into use, thereby building an unmanned intelligent production workshop. Today, with the extremely mature development of AI, the breadth of robots' command reception will be very high, and more and more robots will be put into the workshop for auxiliary work. At this time, better scheduling rules can greatly improve cost utilization.

[0101] like Figure 2 As shown, the technical solution of the present invention also provides a drive control system for an indoor robot, the system comprising:

[0102] A resource consumption parameter determination module is used to receive a service request sent by a workstation terminal, obtain device permissions of the workstation terminal, and determine resource consumption parameters according to the device permissions and service requests;

[0103] A monitoring point setting module, used to construct a transmission channel based on the resource consumption parameter and set at least one monitoring point in the transmission channel;

[0104] A value calculation module, used to collect statistics of transmission data in real time according to the monitoring points, and calculate the activity of the workstation terminal according to the transmission data;

[0105] The card creation module is used to select the benchmark card according to the activity of the workstation, synchronously generate the identification code according to the statistical transmission data, insert the identification code into the benchmark card, and construct the physical card.

[0106] Furthermore, the resource consumption parameter determination module includes:

[0107] The permission acquisition unit is used to receive a service request sent by the workstation terminal, send a device permission acquisition request to the workstation terminal, and receive the device permission granted by the workstation terminal;

[0108] An information query unit, used to query device rated parameters and device usage records based on the device authority;

[0109] The unit quantity calculation unit is used to calculate the equipment occupancy rate at each moment according to the equipment rated parameters and equipment usage records as a resource consumption parameter.

[0110] Specifically, the monitoring point setting module includes:

[0111] The channel creation unit is used to read the unit time resource quantity and the usage time, build a transmission channel according to the unit time resource quantity, and determine the duration according to the usage time; during the duration of the transmission channel, encrypt the adjustment port of the transmission channel through a preset priority threshold;

[0112] A stability determination unit, used to query the historical resource records of the workstation based on the device authority, and calculate the stability value of the workstation according to the historical resource records; , where W is the stability value of the workstation end, and are the first and last moments of the i-th resource process; is the final resource quantity per unit time in the i-th resource process; is the required resource quantity for the i-th resource process, is the correction factor;

[0113] A point insertion unit is used to determine the number of monitoring points according to the station end stability value, and insert the monitoring points in the transmission channel based on the number.

[0114] Furthermore, the value calculation module includes:

[0115] A transmission data statistics unit, used for collecting statistics of transmission data in real time according to the monitoring points, and when the monitoring points are not unique, performing an XOR operation on the statistical results of different monitoring points, and generating an error message when the XOR operation is one;

[0116] A graph unit creation unit, used to extract label information and data volume of the transmitted data, and create a graph unit according to the label information;

[0117] A graph unit arrangement unit, used to obtain a transmission data graph by counting all graph units based on time under a preset arrangement rule;

[0118] The graph unit recognition unit is used to recognize the transmission data graph and calculate the activity of the workstation end.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving control method for an indoor robot, characterized in that: The method comprises: Receive service requests sent by the workstation, obtain device permissions of the workstation, and determine resource consumption parameters based on device permissions and service requests; Building a transmission channel based on the resource consumption parameter, and setting at least one monitoring point in the transmission channel; According to the monitoring point, the transmission data is counted in real time, and the activity of the workstation terminal is calculated according to the transmission data; Select a robot based on the activity of the workstation, generate motion instructions directed to the workstation, and simultaneously generate a pairing code based on the transmitted data and send it to the workstation; The step of collecting real-time statistics of transmission data according to the monitoring points and calculating the activity of the workstation terminal according to the transmission data comprises: According to the real-time statistics of the transmission data at the monitoring point, when the monitoring point is not unique, performing an XOR operation on the statistical results of different monitoring points, and generating an error message when the XOR operation is one; extracting label information and data volume of the transmitted data, and creating a graph unit according to the label information; Under the preset arrangement rules, all graph units are counted based on time to obtain a transmission data graph; Identify the transmission data graph and calculate the activity of the workstation end; The step of extracting the tag information and data volume of the transmitted data and creating a graph unit according to the tag information comprises: Extracting label information of the transmission data, and selecting a color value from a preset color value library according to the label information, wherein the color value library includes label items, color value items, and level items; the level is used to characterize the importance of the transmission data; Acquiring the data volume of the transmitted data, analyzing the data volume, and determining the unit size; Create graph cells based on color value and cell size; The step of identifying the transmission data graph and calculating the activity of the workstation terminal includes: Query the color value types in the transmission data graph, and split the transmission data graph into layers based on the color value types; Calculate the data volume based on the layer, and determine the activity of the workstation based on the data volume.

2. The driving control method of the indoor robot according to claim 1, characterized in that: The steps of receiving a service request sent by a workstation terminal, obtaining device permissions of the workstation terminal, and determining resource consumption parameters according to the device permissions and service requests include: Receive service requests from the workstation terminal, send device permission acquisition requests to the workstation terminal, and receive device permissions granted by the workstation terminal; Querying device rated parameters and device usage records based on the device permissions; The equipment occupancy rate at each moment is calculated based on the equipment rated parameters and equipment usage records as a resource consumption parameter.

3. The driving control method of the indoor robot according to claim 2, characterized in that: The step of constructing a transmission channel based on the resource consumption parameter and setting at least one monitoring point in the transmission channel comprises: Calculate the mean and standard deviation of resource consumption parameters; Determine a standard Gaussian function using the mean and standard deviation; Features are extracted from the standard Gaussian function, and the number of monitoring points is determined according to the features.

4. The driving control method of the indoor robot according to claim 1, characterized in that: The steps of selecting a robot according to the activity of the workstation end, generating a motion instruction directed to the workstation end, and synchronously generating a pairing code according to the transmission data and sending the pairing code to the workstation end include: Determine the required number of robots according to the activity of the workstation end; wherein the relationship between the required number and the activity is stored in a preset table; When the actual number of robots at the workstation end is not less than the required number, the difference between the actual number and the required number is calculated, and robots with the difference are released as idle robots; When the actual number of robots at a workstation is less than the required number, an idle robot is selected in ascending order of distance, and a motion instruction is generated and sent to the current workstation. The transmission data within a preset time is intercepted, input into a trained transcoding model, and a pairing code is obtained, which is then sent to the idle robot.

5. A drive control system for an indoor robot, characterized in that: The system comprises: The consumption determination module is used to receive the service request sent by the workstation, obtain the device authority of the workstation, and determine the resource consumption parameters according to the device authority and the service request; A monitoring point setting module, used to construct a transmission channel based on the resource consumption parameter and set at least one monitoring point in the transmission channel; An activity calculation module, used to collect statistics of transmission data in real time according to the monitoring points, and calculate the activity of the workstation terminal according to the transmission data; The robot control module is used to select a robot according to the activity of the workstation, generate motion instructions directed to the workstation, and simultaneously generate a pairing code based on the transmission data and send it to the workstation; The activity calculation module includes: An XOR operation unit, used for collecting statistics of transmission data in real time according to the monitoring points, and when the monitoring points are not unique, performing XOR operation on the statistical results of different monitoring points, and generating error information when the XOR operation is one; A graph unit creation unit, used to extract label information and data volume of the transmitted data, and create a graph unit according to the label information; A data statistics unit, used to count all graph units based on time under a preset arrangement rule to obtain a transmission data graph; A calculation execution unit, used to identify the transmission data graph and calculate the activity of the workstation end; The extracting of the tag information and the data volume of the transmitted data and creating the content of the graph unit according to the tag information comprises: Extracting label information of the transmission data, and selecting a color value from a preset color value library according to the label information, wherein the color value library includes label items, color value items, and level items; the level is used to characterize the importance of the transmission data; Acquiring the data volume of the transmitted data, analyzing the data volume, and determining the unit size; Create graph cells based on color value and cell size; The step of identifying the transmission data graph and calculating the activity of the workstation terminal includes: Query the color value types in the transmission data graph, and split the transmission data graph into layers based on the color value types; Calculate the data volume based on the layer, and determine the activity of the workstation based on the data volume.

6. The driving control system of the indoor robot according to claim 5, characterized in that: The consumption determination module comprises: The permission acquisition unit is used to receive a service request sent by the workstation terminal, send a device permission acquisition request to the workstation terminal, and receive the device permission granted by the workstation terminal; A data query unit, used to query device rated parameters and device usage records based on the device authority; The data application unit is used to calculate the equipment occupancy rate at each moment according to the equipment rated parameters and equipment usage records as a resource consumption parameter.

7. The driving control system of the indoor robot according to claim 6, characterized in that: The monitoring point setting module includes: A parameter calculation unit, used to calculate the mean and standard deviation of resource consumption parameters; A function modeling unit, used for determining a standard Gaussian function from the mean and standard deviation; The feature extraction application unit is used to extract features from the standard Gaussian function and determine the number of monitoring points according to the features.

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