Multifunctional robot scheduling method, device, equipment and medium

Abstract

The invention discloses a multifunctional robot scheduling method, device and equipment and a medium. The method comprises the steps of querying a first robot in an idle state according to a to-be-executed task list, wherein the first robot can execute a plurality of different types of tasks; the first robot is scheduled to move to a target area to be paired with the second robot, and the second robot and the first robot can execute a cleaning task after being combined; and sending an instruction for executing the cleaning task to the successfully paired first robot according to the to-be-cleaned area. By adopting the embodiment of the invention, the first robot is scheduled to execute the cleaning task, so that the cleaning time and the task value of the first robot can be considered, coordination of a plurality of different types of tasks of the first robot is realized, and interruption and recovery of the cleaning task and notification of task abnormity are realized; the efficiency of the multifunctional robot is improved, and the cohesion of robot operation in a scene is conveniently improved based on the scheduling method.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a multifunctional robot scheduling method, device, equipment and medium. Background Art

[0002] At present, the cleaning robot sends the cleaning task to the operator according to the cleaning needs, patrols and monitors according to the preset cleaning route, and senses and analyzes the surrounding environment. The cleaning device built into the cleaning robot can complete tasks such as vacuuming and mopping. In addition, when the cleaning robot finds an abnormal situation, it will alarm through the built-in security equipment, and transmit the abnormal information to the data processing center for analysis and processing through artificial intelligence technology. Then, the robot that performs the cleaning task based on the chassis of the split robot and is driven according to the task mobilization often needs to consider the rationality of the cleaning time, so as not to affect the split robot from performing other types of tasks while completing the cleaning task. Therefore, how to design a scheduling mechanism based on the compatibility of the cleaning tasks of the multi-functional robot and the other types of tasks has become an urgent problem to be solved. Summary of the invention

[0003] The present invention provides a multifunctional robot scheduling method, device, equipment and medium, which realize high-efficiency and low-cost scheduling of the multifunctional robot and improve the working efficiency of the multifunctional robot.

[0004] According to a first aspect of the present invention, a multifunctional robot scheduling method is provided, the method comprising:

[0005] Querying a first robot in an idle state according to the list of tasks to be performed, where the first robot can perform multiple tasks of different types;

[0006] Scheduling the first robot to move to a target area and pair with the second robot, so that the second robot can perform a cleaning task after being combined with the first robot;

[0007] According to the area to be cleaned, an instruction to execute the cleaning task is sent to the first robot that is successfully paired.

[0008] According to a second aspect of the present invention, there is provided a multifunctional robot scheduling device, the device comprising:

[0009] A query module is configured to query a first robot in an idle state according to a list of tasks to be performed, wherein the first robot can perform multiple tasks of different types;

[0010] A scheduling module, configured to schedule the first robot to move to a target area to pair with the second robot, and the second robot can perform a cleaning task after being combined with the first robot;

[0011] The sending module is configured to send an instruction to execute the cleaning task to the first robot that is successfully paired according to the area to be cleaned.

[0012] According to a third aspect of the present invention, there is provided an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements a multifunctional robot scheduling method as described in any embodiment of the present invention.

[0013] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer instructions are used to cause the computer to execute a multifunctional robot scheduling method as described in any embodiment of the present invention.

[0014] The present invention discloses a multifunctional robot scheduling method, device, equipment and medium. The method comprises: querying a first robot in an idle state according to a list of tasks to be performed, the first robot can perform multiple different types of tasks; scheduling the first robot to move to a target area to pair with the second robot, the second robot can perform a cleaning task after being combined with the first robot; sending an instruction to execute the cleaning task to the successfully paired first robot according to the area to be cleaned. By adopting the embodiment of the present invention, the first robot is scheduled to perform a cleaning task, which can take into account the cleaning time and the task value of the first robot, realize the coordination of multiple different types of tasks of the first robot, and realize the interruption and resumption of the cleaning task, and the notification of task abnormality; the efficiency of the multifunctional robot is increased, and the connectivity of the robot operations in the scene is conveniently improved based on the scheduling method.

[0015] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 is a schematic diagram of an application scenario in which a multifunctional robot scheduling method according to an embodiment of the present invention can be implemented;

[0018] Figure 2 is a flow chart of a multifunctional robot scheduling method provided according to an embodiment of the present invention;

[0019] Figure 3 is a structural schematic diagram of a multifunctional robot scheduling device provided according to an embodiment of the present invention;

[0020] Figure 4 It is a block diagram of an electronic device used to implement a multifunctional robot scheduling method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] Figure 1 A schematic diagram of an application scenario of a multifunctional robot scheduling method that can implement an embodiment of the present invention is provided. Figure 1 As shown, the computing device 110 can query a first robot in an idle state according to a list of tasks to be performed, and the first robot can perform multiple different types of tasks; schedule the first robot to move to a target area to pair with the second robot, and the second robot can perform a cleaning task after being combined with the first robot; and send an instruction to execute the cleaning task to the successfully paired first robot according to the area to be cleaned.

[0024] It should be noted that the above-mentioned computing device 110 can be hardware or software. When the computing device 110 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the computing device 110 is embodied as software (for example, a program or system for controlling a robot), it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0025] It should be understood that Figure 1 The number of computing devices in the embodiment is only illustrative. Any number of computing devices may be provided according to implementation requirements.

[0026] Embodiment 1

[0027] According to an embodiment of the present application, a multifunctional robot scheduling method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here. Figure 2 As shown, the multifunctional robot scheduling method includes the following steps: S210, S220 and S230.

[0028] S210. Query a first robot in an idle state according to a list of tasks to be executed, where the first robot can execute multiple tasks of different types.

[0029] Among them, the list of tasks to be executed includes manually created tasks, scheduled tasks and interrupted tasks; the first robot is represented as a robot in an idle state and with a power greater than or equal to 20. The tasks in the list of tasks to be executed are obtained on the user-oriented business end. For example, the third-party applet and the rider-side applet can handle the scheduled operation of the scheduled task, the operation of the manually created task and the operation of the interrupted task. Taking the interrupted task as an example, when a takeaway order arrives at the hotel and the multifunctional robot needs to be called to deliver the takeaway, the current cleaning task of the first robot needs to be interrupted. After completing the task of delivering the takeaway, the interrupted cleaning task continues to be completed; or, for the task of continuing to clean across days, it is equivalent to resuming the cleaning task on the second day for the cleaning task that was interrupted and unfinished the previous day. In addition, the business end can also process the transferred tasks corresponding to the exception records. The scheduled task corresponds to the task determined by the business end timing operation interface according to the business timer; the manually created task can be created by the user at the business end.

[0030] Exemplarily, when the first robot in the idle state cannot be found, it is determined whether the task in the task list has timed out. If not, the first robot in the idle state continues to be queried; if it has timed out, the pending task in the task list is canceled, the reason for the task cancellation is recorded, and the information and reason for the task cancellation are sent to the client through the message gateway. The client includes but is not limited to public account messages, web pages, API push, landline, SIP outbound calls, and text messages.

[0031] S220: dispatching the first robot to move to a target area and pairing with the second robot; the second robot and the first robot can perform a cleaning task after being combined.

[0032] Exemplarily, after the first robot is dispatched to the area to be cleaned to perform the cleaning task, the first robot moves to the target area while announcing "Baby is going to work" in voice, requests to pair with the second robot, and combines to jointly perform the cleaning task after the pairing is successful. As an optional embodiment, if the first robot and the second robot are not successfully combined, and within the threshold of the number of retries that can be recombined, the first robot is controlled to continue to perform the combination operation. As another optional embodiment, if the first robot and the second robot are not successfully combined, and the threshold of the number of retries has been exceeded, the cleaning task to be performed by the first robot is canceled, the first robot is restored to the initial position and initial state, and the abnormal event of the unsuccessful combination is recorded and sent to the client. Finally, if the first robot and the second robot are successfully combined, the two are controlled to move together to the area to be cleaned.

[0033] Optionally, scheduling the first robot to move to a target area to pair with the second robot includes: obtaining location information of the target area; sending the location information to the first robot, and controlling the first robot to broadcast voice information of entering a working mode; and determining a next state of the first robot according to the pairing result.

[0034] Furthermore, determining the next state of the first robot according to the pairing result also includes: assigning the cleaning task to the first robot that has been successfully paired; sending a cancel scheduling instruction to the first robot that has failed to be paired, and restoring the first robot to a previous state.

[0035] Exemplarily, the voice information for entering the working mode includes but is not limited to: continuously broadcasting the voice prompt "Baby is going to work" while the first robot moves to the target area; or, broadcasting the voice prompt "Baby is going to work" after the first robot is successfully combined with the second robot; or, after the first robot and the second robot fail to be successfully combined and exceed the retry count threshold, the first robot broadcasts the voice prompt "Baby is a little tired, go back and rest first" while returning to the initial position.

[0036] S230: Sending a cleaning task instruction to the first robot that has been successfully paired according to the area to be cleaned.

[0037] Optionally, sending the cleaning task instruction to the first robot that is successfully paired according to the area to be cleaned includes: obtaining the waiting time of the area to be cleaned; and determining the first robot that receives the cleaning task instruction according to the waiting time and the remaining power of each first robot.

[0038] Furthermore, after sending the instruction to execute the cleaning task to the first robot that has been successfully paired according to the area to be cleaned, it also includes: acquiring an initial image of the area to be cleaned captured by the first robot; determining the ground type of the area to be cleaned according to the initial image; and implementing corresponding cleaning methods according to different ground types, the ground types including hard ground and soft ground.

[0039] It should be noted that the initial image records the initial state of the to-be-cleaned area before the cleaning operation is performed.

[0040] Optionally, implementing corresponding cleaning methods according to different ground types includes: adjusting the first robot to operate in dust-pushing mode or additional suction mode according to the hard ground and user configuration requirements; adjusting the first robot to operate in cleaning mode and suction mode according to the soft ground.

[0041] For example, when the ground type is hard ground, the user can be allowed to customize whether to turn on the suction mode to control the multifunctional robot to perform cleaning tasks. When the ground type is soft ground, the cleaning mode and the suction mode are used together to allow the multifunctional robot to avoid small obstacles and control the suction.

[0042] It is worth noting that: when the first robot performs the cleaning task, the multifunctional robot in the embodiment of the present invention is understood as a combination of the first robot and the second robot, wherein the first robot can be understood as the chassis of the split robot, and the second robot can be understood as the upper cabin of the split robot. When the first robot performs other tasks except the cleaning task, the multifunctional robot is understood as the first robot.

[0043] Optionally, determine the high-priority task to be executed at the current moment based on the list of tasks to be executed; terminate the cleaning task of the current operation, and schedule the first robot to execute the high-priority task; after the high-priority task is executed, determine whether the first robot is still within the pending time; and schedule the first robot to resume executing the cleaning task within the pending time.

[0044] Furthermore, when the first robot is not within the pending time after completing the high priority task, the cleaning task is terminated.

[0045] As an optional implementation, the high-priority tasks include but are not limited to: delivery tasks, charging tasks, summoning tasks, and container summoning tasks. Among them, the pending time can be understood as the cleaning time corresponding to the cleaning task of the current operation that has been terminated. Specifically, if it is within the cleaning time, the interrupted and continued cleaning task corresponding to the business end is executed; if it is not within the cleaning time, then the task termination operation is performed, which can be understood as canceling the interrupted cleaning task that the first robot will continue to sweep; further, the first robot is restored to its initial position and initial state, and the abnormal event of the interrupted and continued cleaning task that was not executed this time is recorded and sent to the client.

[0046] Optionally, if the high-priority task does not exist in the list of tasks to be executed, an abnormal event within the pending time is determined; the cleaning task is terminated according to the abnormal event; if the abnormal event does not occur, a target image of the area to be cleaned is acquired.

[0047] As another optional implementation, the pending time can also be understood as the timeout judgment for the manually created task in the embodiment of the present invention; if the first robot is still within the pending time, it means that the manually created task has not timed out. Similarly, if the first robot is not within the pending time, it means that the manually created task has timed out, then the task termination operation is performed, specifically canceling the manually created task to be executed by the first robot, restoring the first robot to its initial position and initial state, and recording the abnormal events that were not handled during the timeout, and sending them to the client. Furthermore, the uncleaned area is determined according to the cleaning task; the first robot is dispatched to move to the uncleaned area to continue to execute the cleaning task.

[0048] It should be noted that the abnormal event includes but is not limited to equipment abnormality of the first robot, such as: the first robot is stuck or the second robot is abnormal in entering the cabin.

[0049] As a possible implementation mode, if an abnormal event occurs within the pending time and the abnormality cannot be recovered, the cleaning task is terminated, which is specifically manifested by canceling the cleaning task; further, the first robot is restored to its initial position and initial state, and the abnormal event of the first robot device is recorded and sent to the client.

[0050] As another possible implementation, if no abnormal event occurs within the processing time, the first robot is controlled to collect the target image, and the target image records the state of the area to be cleaned after the first target robot completes the cleaning task.

[0051] Furthermore, after acquiring the target image of the area to be cleaned, an uncleaned area is determined according to the cleaning task; and the first robot is dispatched to move to the uncleaned area to continue to perform the cleaning task.

[0052] Optionally, cleaning data of the first robot performing the cleaning task is stored; and a state change message of the first robot in the cleaning data is sent to the client.

[0053] Exemplarily, after the first robot completes the cleaning task, the cleaning data is stored in a data warehouse, a corresponding data report is generated according to the cleaning data, and the data report is sent to the client through the message gateway.

[0054] The present invention discloses a multifunctional robot scheduling method. The method comprises: querying a first robot in an idle state according to a list of tasks to be performed, the first robot can perform multiple different types of tasks; scheduling the first robot to move to a target area to pair with the second robot, the second robot can perform a cleaning task after being combined with the first robot; sending an instruction to execute the cleaning task to the successfully paired first robot according to the area to be cleaned. By adopting the embodiment of the present invention, the first robot is scheduled to perform a cleaning task, which can take into account the cleaning time and the task value of the first robot, realize the coordination of multiple different types of tasks of the first robot, and realize the interruption and resumption of the cleaning task, and the notification of task abnormality; the efficiency of the multifunctional robot is increased, and the connectivity of the robot operations in the scene is conveniently improved based on the scheduling method.

[0055] Embodiment 2

[0056] According to an embodiment of the present invention, a schematic diagram of the structure of a multifunctional robot scheduling device is provided, and the device can execute a multifunctional robot scheduling method provided in the above embodiment 1. Figure 3 As shown, the device includes: a query module 310, a scheduling module 320 and a sending module 330. Among them:

[0057] The query module 310 is configured to query a first robot in an idle state according to a list of tasks to be performed, wherein the first robot can perform multiple tasks of different types.

[0058] Specifically, the list of tasks to be executed includes manually created tasks, scheduled tasks, and interrupted tasks.

[0059] The scheduling module 320 is configured to schedule the first robot to move to a target area to pair with the second robot, and the second robot can perform a cleaning task after being combined with the first robot.

[0060] Optionally, the scheduling module 320 includes:

[0061] A first acquisition unit, used to acquire the location information of the target area;

[0062] A control unit, configured to send the position information to the first robot, and control the first robot to broadcast a voice message indicating that the robot has entered a working mode;

[0063] The first determining unit is used to determine the next state of the first robot according to the pairing result.

[0064] Furthermore, the first determination unit is specifically used to: assign the cleaning task to the first robot that is successfully paired; send a cancel scheduling instruction to the first robot that fails to be paired, and restore the first robot to a previous state.

[0065] The sending module 330 is configured to send an instruction to execute the cleaning task to the first robot that is successfully paired according to the area to be cleaned.

[0066] Optionally, the sending module 330 includes:

[0067] A second acquisition unit is used to acquire the waiting time of the area to be cleaned;

[0068] The second determining unit is used to determine the first robot that receives the cleaning task instruction according to the pending time and the remaining power of each first robot.

[0069] Furthermore, after the sending module 330, an execution module is also included: specifically used to obtain an initial image of the area to be cleaned collected by the first robot; determine the ground type of the area to be cleaned according to the initial image; implement corresponding cleaning methods according to different ground types, and the ground types include hard ground and soft ground.

[0070] Optionally, implementing corresponding cleaning methods according to different ground types includes: adjusting the first robot to operate in dust-pushing mode or additional suction mode according to the hard ground and user configuration requirements; adjusting the first robot to operate in cleaning mode and suction mode according to the soft ground.

[0071] Optionally, the device also includes a processing module: specifically used to determine the high-priority task to be executed at the current moment based on the list of tasks to be executed; terminate the cleaning task of the current operation, and schedule the first robot to execute the high-priority task; after the high-priority task is executed, determine whether the first robot is still within the pending time; and schedule the first robot to resume executing the cleaning task within the pending time.

[0072] Furthermore, the processing module also includes: when the first robot, after completing the high priority task, is not within the pending processing time, terminating the cleaning task.

[0073] Furthermore, the processing module also includes: if the high-priority task does not exist in the list of tasks to be executed, determining an abnormal event within the processing time; terminating the cleaning task according to the abnormal event; and if the abnormal event does not occur, acquiring a target image of the area to be cleaned.

[0074] Optionally, after the processing module, it also includes determining an uncleaned area according to the cleaning task; and scheduling the first robot to move to the uncleaned area to continue to perform the cleaning task.

[0075] Furthermore, cleaning data of the first robot executing the cleaning task is stored; and a state change message of the first robot in the cleaning data is sent to the client.

[0076] The present invention discloses a multifunctional robot scheduling device. The device comprises: a query module, configured to query a first robot in an idle state according to a list of tasks to be performed, wherein the first robot can perform multiple different types of tasks; a scheduling module, configured to schedule the first robot to move to a target area to pair with the second robot, wherein the second robot can perform a cleaning task after being combined with the first robot; and a sending module, configured to send an instruction to execute the cleaning task to the successfully paired first robot according to the area to be cleaned. By adopting the embodiment of the present invention, the first robot is scheduled to perform a cleaning task, which can take into account the cleaning time and the task value of the first robot, realize the coordination of multiple different types of tasks of the first robot, and realize the interruption and recovery of the cleaning task and the notification of task abnormality; the efficiency of the multifunctional robot is increased, and the connectivity of the robot operations in the scene is conveniently improved based on the scheduling method.

[0077] Embodiment 3

[0078] Reference below Figure 4 , which shows a block diagram of an electronic device 400 suitable for implementing an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0079] like Figure 4As shown, the electronic device 400 may include a processing device 410, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 420 or a program loaded from a storage device 480 into a random access memory (RAM) 430. The processing device 410 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processing device 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processing device 410 performs the various methods and processes described above.

[0080] In the RAM 430, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 410, the ROM 420, and the RAM 430 are connected to each other through a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0081] Typically, the following devices may be connected to the I / O interface 450: an input device 460 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 470 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 480 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 490. The communication device 490 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0082] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device 490, or installed from a storage device 480, or installed from a ROM 420. When the computer program is executed by the processing device 410, the above functions defined in the method of the embodiment of the present invention are executed. Alternatively, in other embodiments, the processing device 410 can be configured to execute the method in any other appropriate manner (for example, by means of firmware): querying a first robot in an idle state according to a list of tasks to be executed, the first robot can perform multiple different types of tasks; scheduling the first robot to move to a target area to pair with the second robot, and the second robot can perform a cleaning task after combining with the first robot; sending an instruction to execute the cleaning task to the first robot that is successfully paired according to the area to be cleaned.

[0083] Embodiment 4

[0084] The computer-readable medium of the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0085] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0086] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0087] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: queries a first robot in an idle state according to a list of tasks to be executed, and the first robot can execute multiple different types of tasks; schedules the first robot to move to a target area to pair with the second robot, and the second robot can execute a cleaning task after being combined with the first robot; sends an instruction to execute the cleaning task to the successfully paired first robot according to the area to be cleaned.

[0088] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0089] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0090] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0091] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof, etc.

[0092] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0093] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0094] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0095] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0096] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services. The server may also be a server of a distributed system, or a server combined with a blockchain.

[0097] Artificial intelligence is a discipline that studies how to use computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning technology, big data processing technology, knowledge graph technology, and other major directions.

[0098] Cloud computing refers to a technology system that uses network access to elastically scalable shared physical or virtual resource pools. Resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for technical applications such as artificial intelligence and blockchain, as well as model training.

[0099] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution provided by the present invention can be achieved, and this document does not limit this.

[0100] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional robot scheduling method, characterized in that: The method comprises: Querying a first robot in an idle state according to the list of tasks to be performed, where the first robot can perform multiple tasks of different types; Scheduling the first robot to move to a target area and pair with the second robot, so that the second robot can perform a cleaning task after being combined with the first robot; According to the area to be cleaned, an instruction to execute the cleaning task is sent to the first robot that is successfully paired.

2. The method according to claim 1, characterized in that The list of tasks to be executed includes manually created tasks, scheduled tasks, and interrupted tasks.

3. The method according to claim 1, characterized in that The step of scheduling the first robot to move to a target area and pair with the second robot includes: Acquiring location information of the target area; Sending the location information to the first robot, and controlling the first robot to broadcast a voice message of entering a working mode; The next state of the first robot is determined according to the pairing result.

4. The method according to claim 3, characterized in that The determining the next state of the first robot according to the pairing result further includes: Allocate the cleaning task to the first robot that is successfully paired; A cancel scheduling instruction is sent to the first robot that fails to pair, and the first robot is restored to a previous state.

5. The method according to claim 1, characterized in that The step of sending the cleaning task instruction to the first robot that is successfully paired according to the area to be cleaned includes: Obtaining the waiting time for the area to be cleaned; The first robot receiving the cleaning task instruction is determined according to the pending time and the remaining power of each first robot.

6. The method according to claim 5, characterized in that After sending the cleaning task instruction to the first robot that is successfully paired according to the area to be cleaned, the method further includes: Acquire an initial image of the area to be cleaned collected by the first robot; Determine the ground type of the area to be cleaned according to the initial image; Corresponding cleaning methods are implemented according to different ground types, and the ground types include hard ground and soft ground.

7. The method according to claim 6, characterized in that The cleaning methods corresponding to different ground types include: Adjusting the first robot to operate in a dust-pushing mode or an additional suction mode according to the hard ground and user configuration requirements; The first robot is adjusted to operate in a cleaning mode and a suction mode according to the soft ground.

8. The method according to any one of claims 5 to 7, characterized in that: Also includes: Determine the high-priority tasks to be executed at the current moment according to the list of tasks to be executed; terminating the cleaning task of the current operation and scheduling the first robot to perform the high-priority task; After the high-priority task is completed, determining whether the first robot is still within the pending time; The first robot is scheduled to resume performing the cleaning task within the pending time.

9. The method according to claim 8, characterized in that When the first robot after completing the high priority task is not within the pending time, the cleaning task is terminated.

10. The method according to claim 8, characterized in that The method further comprises: If the high-priority task does not exist in the list of tasks to be executed, determining an abnormal event within the pending time; terminating the cleaning task according to the abnormal event; If the abnormal event does not occur, the target image of the area to be cleaned is collected.

11. The method according to claim 10, characterized in that The method further comprises: determining the uncleaned area according to the cleaning task; The first robot is dispatched to move to the uncleaned area to continue to perform the cleaning task.

12. The method according to claim 1, characterized in that The method further comprises: storing cleaning data of the first robot performing the cleaning task; Send a status change message of the first robot in the cleaning data to the client.

13. A multifunctional robot scheduling device, characterized in that: The device comprises: A query module is configured to query a first robot in an idle state according to a list of tasks to be performed, wherein the first robot can perform multiple tasks of different types; A scheduling module, configured to schedule the first robot to move to a target area to pair with the second robot, and the second robot can perform a cleaning task after being combined with the first robot; The sending module is configured to send an instruction to execute the cleaning task to the first robot that is successfully paired according to the area to be cleaned.

14. An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements the method as described in any one of claims 1-12.

15. A computer-readable storage medium, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-12.

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