Task execution method and device, robot and storage medium

Abstract

The invention discloses a task execution method and device, a robot and a storage medium. The task execution method comprises the following steps: when a delivery task is triggered, if a default task is executed and is in a suspension time period of the default task, suspending the default task; receiving and sending the object cabin and executing the object sending task; and after the delivery task is completed, executing the suspended default task. According to the technical scheme, switching between the default task and the object sending task is achieved through the object receiving and sending cabin, and the utilization rate of the robot is increased.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robot control, and in particular to a task execution method, device, robot and storage medium. Background Art

[0002] In scenarios such as hotels, hospitals, takeout and express delivery, the application of delivery robots is becoming more and more widespread, and is even gradually becoming a standard configuration. Delivery robots can provide users with more efficient, convenient and comfortable services. By delivering takeout, customer needs, express delivery and other items through delivery robots, zero-distance service can be achieved, while also reducing manual operations and improving service efficiency. However, there are some time periods (such as 2-4 o'clock and 14-16 o'clock) when there are almost no delivery tasks during these time periods. The robots are idle, resulting in a waste of resources, and the utilization rate of delivery robots needs to be improved. Summary of the invention

[0003] The present invention provides a task execution method, device, robot and storage medium to improve the utilization rate of the robot.

[0004] In a first aspect, an embodiment of the present invention provides a task execution method, including:

[0005] When the delivery task is triggered, if the default task is being executed and is in the suspendable period of the default task, suspend the default task;

[0006] Connecting the cargo delivery cabin and executing the cargo delivery mission;

[0007] After the delivery task is completed, the suspended default task is executed.

[0008] Optionally, the cargo delivery cabin includes:

[0009] If the current cabin is not a delivery cabin, move to the designated location and replace the current cabin with a delivery cabin.

[0010] Optionally, after the delivery task is completed, executing the suspended default task includes:

[0011] After the delivery task is completed, wait for a set time;

[0012] If a new delivery task is triggered within the set time, the new delivery task is executed;

[0013] Otherwise, the suspended default task is executed.

[0014] Optionally, before executing the suspended default task, the method further includes:

[0015] Move to a designated location and replace the cargo delivery cabin with the current cabin.

[0016] Optionally, suspending the default task includes:

[0017] Recording interruption information of the default task;

[0018] The interruption information includes at least one of the following: interruption location information; interruption time information; task progress information, and cabin information corresponding to the default task.

[0019] Optionally, after the delivery task is completed, executing the suspended default task includes:

[0020] After the delivery task is completed, if the current time is within the executable time period corresponding to the default task, the default task is executed.

[0021] Optionally, after the delivery task is completed, executing the suspended default task includes:

[0022] After the delivery task is completed, if the current time is not within the executable time period corresponding to the default task, the default task is executed when the executable time period is entered.

[0023] In a second aspect, an embodiment of the present invention provides a task execution device, including:

[0024] A suspending module, used for suspending the default task when the delivery task is triggered, if the default task is being executed and is in the suspendable period of the default task;

[0025] A first execution module, used for docking with the cargo delivery cabin and executing the cargo delivery task;

[0026] The second execution module is used to execute the suspended default task after the delivery task is completed.

[0027] Optionally, the first execution module includes:

[0028] A cabin changing unit is used for moving to a designated location and changing the current cabin to the cargo delivery cabin before docking the cargo delivery cabin and performing the cargo delivery task if the current cabin is not the cargo delivery cabin;

[0029] Before executing the suspended default task, move to the designated location and replace the delivery cabin with the current cabin.

[0030] Optionally, the second execution module is used for:

[0031] After the delivery task is completed, wait for a set time;

[0032] If a new delivery task is triggered within the set time, the new delivery task is executed;

[0033] Otherwise, the default task is executed.

[0034] Optionally, also include:

[0035] A suspend module, used for recording the interruption information of the default task;

[0036] The interruption information includes at least one of the following: interruption location information; interruption time information; task progress information, and cabin information corresponding to the default task.

[0037] Optionally, a second execution module is used to execute the default task after the delivery task is completed if the current time is within the executable time period corresponding to the default task.

[0038] Optionally, the second execution module is used to wait for entering the executable time period to execute the default task after the delivery task is completed if the current time is not within the executable time period corresponding to the default task.

[0039] In a third aspect, an embodiment of the present invention provides a robot, comprising:

[0040] one or more processors;

[0041] A storage device for storing one or more programs;

[0042] When the one or more programs are executed by the one or more processors, the one or more processors implement the task execution method as described in the first aspect.

[0043] In a fourth aspect, an embodiment of the present invention provides a robot, comprising: at least one processor; and

[0044] a memory communicatively connected to the at least one processor; wherein,

[0045] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the task execution method as described in the first aspect.

[0046] The embodiment of the present invention provides a task execution method, device, robot and storage medium. The task execution method includes: when a delivery task is triggered, if a default task is being executed and is in the suspendable period of the default task, suspending the default task; docking a delivery cabin and executing the delivery task; after the delivery task is completed, executing the suspended default task. The above technical solution realizes switching between the default task and the delivery task by docking the delivery cabin, thereby improving the utilization rate of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0048] Figure 1 A flowchart of a task execution method provided in Embodiment 1 of the present invention;

[0049] Figure 2 A flowchart of a task execution method provided in Embodiment 2 of the present invention;

[0050] Figure 3 A schematic diagram of a task execution process provided in the second embodiment of the present invention;

[0051] Figure 4 A schematic diagram of the structure of a task execution device provided in Embodiment 3 of the present invention;

[0052] Figure 5 This is a schematic diagram of the structure of a robot provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict. It is also necessary to explain that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all structures.

[0054] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0055] Embodiment 1

[0056] Figure 1 This is a flowchart of a task execution method provided in Embodiment 1 of the present invention. This embodiment is applicable to the case where a task is executed through a charging pile. Specifically, the task execution method can be executed by a task execution device, which can be implemented by software and / or hardware and integrated into a robot. The robot can be a split robot, a delivery robot, a robot with a chassis and a cabin, etc.

[0057] like Figure 1 As shown, the method specifically comprises the following steps:

[0058] S110. When the delivery task is triggered, if the default task is being executed and is in a suspendable time period of the default task, suspend the default task.

[0059] Specifically, the delivery task mainly refers to the task in which the robot is responsible for transporting objects. The default task may refer to the task that the robot performs by default in most time periods or when there is no delivery task, such as a cleaning task. The default task can be suspended during a specific time period, for example, it can be suspended during a time period that does not affect the effect of the task. For the cleaning task, it can be suspended during the low traffic period or the time of the day when the environment is relatively clean and tidy; but it cannot be suspended during the period before the traffic is about to enter the peak period, the period when the environment is less clean and tidy, etc., and the cleaning task needs to be completed as soon as possible to ensure a clean and tidy environment. Among them, the suspension of the default task can be understood as the default task being suspended, and it cannot continue to be executed and will not be scheduled again temporarily until the conditions required for the default task to run are met. It will be executed again.

[0060] In this embodiment, if the delivery task is triggered and the robot is currently executing the default task and is within the suspendable period of the default task, the default task can be suspended and the delivery task can be executed.

[0061] S120, docking the cargo delivery cabin and executing the cargo delivery mission.

[0062] Specifically, when performing a delivery task, since the cabin of the robot performing the default task may not be suitable for performing the delivery task, the robot can first move to a designated location (such as a charging station or a dispatching station, etc.) to dock with the delivery cabin to facilitate the delivery task. The delivery cabin allows users to pick up and place objects to be transported.

[0063] S130: After the delivery task is completed, executing the suspended default task.

[0064] Specifically, after the delivery task is completed, the robot can locally query whether there is a suspended default task. If so, the default cabin can be replaced and the default task can be executed.

[0065] In the task execution method of this embodiment, when the delivery task is triggered, if the default task is being executed and it is in the suspendable period of the default task, the default task is suspended; the delivery cabin is docked and the delivery task is executed; after the delivery task is completed, the suspended default task is executed. By docking the delivery cabin to switch between the default task and the delivery task, the utilization rate of the robot is improved.

[0066] Embodiment 2

[0067] Figure 2 This is a flowchart of a task execution method provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment concretizes the switching process between the delivery task and the default task. It should be noted that the technical details not described in detail in this embodiment can be referred to any of the above embodiments.

[0068] Specifically, Figure 2 As shown, the method specifically comprises the following steps:

[0069] S201, the delivery task is triggered.

[0070] S202: Is the default task being executed? If yes, execute S203; otherwise, execute S206.

[0071] S203: Is it in the suspendable period of the default task? If yes, execute S205; otherwise, execute S204.

[0072] In this embodiment, if the robot is executing the default task and is in the period where the default task can be suspended when the delivery task is triggered, the default task can be suspended and the delivery task can be prepared; if the robot is not executing any task, the delivery task can be prepared directly; if the robot is executing the default task but is in the period where the default task cannot be suspended, the default task is first executed, and the delivery task can be prepared after the default task is completed. Preparing to execute the delivery task includes: determining whether the current cabin can be used to execute the delivery task, if so, the delivery task can be executed, otherwise the current cabin needs to be replaced with the delivery cabin first.

[0073] S204: Execute the default task.

[0074] S205: Suspend the default task.

[0075] Optionally, suspending the default task includes: recording the interruption information of the default task; the interruption information includes at least one of the following: interruption location information; interruption time information; task progress information, and the cabin information corresponding to the default task.

[0076] Among them, the interruption position information can be the position coordinates of the robot when the default task is suspended. After the delivery task is completed, the robot can continue to execute the default task according to the position corresponding to the interruption position information; for example, the default task is a cleaning task. Then, when the delivery task is completed, the cabin that executes the default task can be replaced and the cleaning task can be continued from the position where the robot was when the cleaning task was interrupted, so as to ensure the continuity of the execution of the default task. The interruption time information may include the interruption time of the default task, the maximum allowed interruption time, the suspendable time period information (such as 6:00-8:00 in the morning of a certain day or certain days), etc. In addition, it may also include the default task execution times setting information (such as repeating the same area twice) and / or trigger scene information (such as the time period when the flow of people is lower than the threshold or the time period when the task demand is detected to reach the set level, such as the cleaning task needs to be performed when the garbage pile is large enough); the task progress information may include the completion ratio of the default task (such as the ratio of the cleaned area to the total area to be cleaned at the time of the interruption) and / or the information of the remaining tasks (such as the specific location of the uncleaned area), etc.; the cabin information corresponding to the default task can be understood as the cabin type required to perform the default task (such as an automatic cleaning tool or a cabin with a screen for user interaction, etc.). Based on the recording of the interruption information, the robot can continue to perform the default task at the appropriate time, place or scene according to the progress at the time of the interruption after the delivery task is completed, to ensure the correct execution of the default task.

[0077] S206: Is the current cabin a cargo delivery cabin? If yes, execute S208; otherwise, execute S207.

[0078] S207, move to the designated location and replace the current cabin with a delivery cabin.

[0079] Specifically, if the current cabin is not a cargo delivery cabin, it is moved to a designated location and the current cabin is replaced with a cargo delivery cabin.

[0080] S208, executing the delivery task.

[0081] Specifically, the delivery task can be started on the premise that there is no default task being executed (or the default task being executed is suspended) and the current cabin is a delivery cabin.

[0082] S209: Is there a new delivery task triggered within the set time? If yes, execute S210; otherwise, execute S211.

[0083] In this embodiment, after the delivery task is completed, the robot can wait for a set time (for example, 3 minutes). If a new delivery task is triggered within the set time, the new delivery task is executed and the default task remains suspended; otherwise, the suspended default task is executed. On this basis, multiple delivery tasks can be executed during the period when the default task is suspended, thereby improving the efficiency of task execution.

[0084] S210, executing a new delivery task.

[0085] S211: Is the current time within the executable time period corresponding to the default task? If yes, execute S213; otherwise, execute S212.

[0086] In this embodiment, after the delivery task is completed, the suspended default task is executed, including: after the delivery task is completed, if the current time is not in the executable time period corresponding to the default task, the default task is executed, otherwise, the default task is executed when the executable time period is entered. Among them, the executable time period can be understood as the time period when the default task can be executed. For example, the default task is a scheduled task, such as cleaning the designated area at 5:00-6:00 in the morning every day. If the delivery task is completed and the current time is 5:00-6:00 in the morning, the delivery cabin can be replaced with the cabin corresponding to the default task and the suspended default task is executed; otherwise, the default task can be temporarily not executed, but wait until the next time the executable time period is entered (such as 5:00 in the morning of the next day) and then the delivery cabin is replaced with the cabin corresponding to the default task and the suspended default task is executed. If other delivery tasks are triggered during this period, the corresponding delivery tasks can be executed.

[0087] S212: Waiting to enter the executable period.

[0088] S213. Move to the designated location and replace the delivery cabin with the cabin corresponding to the default task.

[0089] Optionally, before executing the suspended default task, it also includes: moving to a designated location and replacing the delivery cabin with the current cabin (replacing it with a cabin used to execute the default task). The cabin information corresponding to the default task can be recorded in the interruption information, or can correspond to the interruption information. For example, if the interruption information includes the type of the default task (such as a cleaning task), the cabin corresponding to the default task can be an automatic cleaning tool. After the delivery task is completed, the robot can move to a designated location (such as a charging station or a scheduling station) and re-equip the robot cabin corresponding to the default task to execute the default task.

[0090] S214: Execute the suspended default task.

[0091] Figure 3 This is a schematic diagram of a task execution process provided by the second embodiment of the present invention. Figure 3 As shown in the figure, taking the default task of cleaning as an example, the UP standard upper cabin receives the delivery task and creates a scheduling task. At this time, it can first determine whether the cleaning task is being executed. If so, the cleaning task is suspended (if it is within the non-suspendable period of the cleaning task, the cleaning task is not suspended and the cleaning task is continued). The robot moves to the charging pile to put down the cleaning cabin, that is, cleaning tools, etc., docks the delivery cabin and executes the delivery task. After the delivery task is completed, if it is found that there is a suspended cleaning task, the cleaning task will continue to be executed.

[0092] A task execution method provided in the second embodiment of the present invention enables the robot to support multiple tasks by replacing the cabin required to execute the corresponding task at a designated location, thereby ensuring the feasibility of multi-task execution, improving the utilization rate of the robot, and further meeting the execution requirements of different tasks. On this basis, multiple delivery tasks can be executed during the period when the default task is suspended, thereby improving the efficiency of task execution. In addition, based on the recording of the interruption information, the robot can continue to execute the default task at the appropriate time, place or scene according to the progress at the time of interruption after the delivery task is completed, thereby ensuring the correct execution of the default task and realizing the effective switching between the default task and the delivery task.

[0093] Embodiment 3

[0094] Figure 4 This is a schematic diagram of the structure of a task execution device provided in Embodiment 3 of the present invention. The task execution device provided in this embodiment includes:

[0095] A suspending module 310, configured to suspend the default task when the delivery task is triggered if the default task is being executed and is in a suspendable period of the default task;

[0096] A first execution module 320, configured to connect to the cargo delivery cabin and execute the cargo delivery task;

[0097] The second execution module 330 is used to execute the suspended default task after the delivery task is completed.

[0098] A task execution device provided in the third embodiment of the present invention realizes switching between a default task and a delivery task by docking a delivery cabin, thereby improving the utilization rate of the robot.

[0099] Based on the above embodiment, the first execution module includes:

[0100] A cabin changing unit is used for moving to a designated location and changing the current cabin to the cargo delivery cabin before docking the cargo delivery cabin and performing the cargo delivery task if the current cabin is not the cargo delivery cabin;

[0101] Before executing the suspended default task, move to the designated location and replace the delivery cabin with the current cabin.

[0102] Based on the above embodiment, the second execution module is used for:

[0103] After the delivery task is completed, wait for a set time;

[0104] If a new delivery task is triggered within the set time, the new delivery task is executed;

[0105] Otherwise, the default task is executed.

[0106] Based on the above embodiment, the device further includes:

[0107] A suspend module, used for recording the interruption information of the default task;

[0108] The interruption information includes at least one of the following: interruption location information; interruption time information; task progress information, and cabin information corresponding to the default task.

[0109] On the basis of the above embodiment, the second execution module is used to execute the default task after the delivery task is completed if the current time is within the executable time period corresponding to the default task.

[0110] On the basis of the above embodiment, the second execution module is used to, after the delivery task is completed, if the current time is not in the executable time period corresponding to the default task, wait to enter the executable time period to execute the default task.

[0111] The task execution device provided in the third embodiment of the present invention can be used to execute the task execution method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0112] Embodiment 4

[0113] Figure 5 A schematic structural diagram of a robot that can be used to implement an embodiment of the present invention is shown.

[0114] like Figure 5 As shown, a robot provided in this embodiment includes: a processor 410 and a storage device 420. The processor in the robot may be one or more, Figure 5 Taking a processor 410 as an example, the processor 410 and the storage device 420 in the robot can be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0115] The one or more programs are executed by the one or more processors 410, so that the one or more processors implement the task execution method described in any of the above embodiments.

[0116] The storage device 420 in the robot is a computer-readable storage medium that can be used to store one or more programs, which can be software programs, computer executable programs, and modules, such as program instructions / modules corresponding to the task execution method in the embodiment of the present invention (for example, the attached Figure 4 The modules in the task execution device shown include: a suspension module 310, a first execution module 320, and a second execution module 330). The processor 410 executes various functional applications and data processing of the robot by running the software programs, instructions and modules stored in the storage device 420, that is, the task execution method in the above method embodiment is implemented.

[0117] The storage device 420 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the robot (such as the delivery task, the suspendable time period, etc. in the above embodiment). In addition, the storage device 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device 420 may further include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the server via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0118] Furthermore, when one or more programs included in the above-mentioned robot are executed by the one or more processors 410, the program performs the following operations: when a delivery task is triggered, if the default task is being executed and is in the suspendable period of the default task, the default task is suspending; the delivery cabin is docked and the delivery task is executed; after the delivery task is completed, the suspended default task is executed.

[0119] The robot further includes: a communication device 430 , an input device 440 and an output device 450 .

[0120] The processor 410, memory 420, communication device 430, input device 440 and output device 450 in the robot can be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0121] The input device 440 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the robot. The output device 550 may include a display device such as a display screen.

[0122] The communication device 530 may include a receiver and a transmitter. The communication device 530 is configured to perform information transmission and reception communication according to the control of the processor 410.

[0123] The robot proposed in this embodiment and the task execution method proposed in the above embodiment belong to the same inventive concept. The technical details not fully described in this embodiment can be referred to any of the above embodiments, and this embodiment has the same beneficial effects as the task execution method.

[0124] On the basis of the above embodiments, this embodiment also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a data storage device, the robot scheduling method in any of the above embodiments of the present invention is implemented. The method includes: when a delivery task is triggered, if a default task is being executed and is in a suspendable period of the default task, suspending the default task; docking the delivery cabin and executing the delivery task; after the delivery task is completed, executing the suspended default task.

[0125] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention, whose computer executable instructions are not limited to the operations of the data storage method described above, can also execute related operations in the data storage method provided in any embodiment of the present invention, and have corresponding functions and beneficial effects.

[0126] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the data storage method described in each embodiment of the present invention.

[0127] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A task execution method, characterized in that: include: When the delivery task is triggered, if the default task is being executed and is in the suspendable period of the default task, suspend the default task; Connecting the cargo delivery cabin and executing the cargo delivery mission; After the delivery task is completed, the suspended default task is executed.

2. The method according to claim 1, characterized in that The cargo delivery cabin comprises: If the current cabin is not a delivery cabin, move to the designated location and replace the current cabin with a delivery cabin.

3. The method according to claim 1, characterized in that After the delivery task is completed, executing the suspended default task includes: After the delivery task is completed, wait for a set time; If a new delivery task is triggered within the set time, the new delivery task is executed; Otherwise, the suspended default task is executed.

4. The method according to claim 1, characterized in that: Before executing the suspended default task, the method further includes: Move to a designated location and replace the cargo delivery cabin with the current cabin.

5. The method according to claim 1, characterized in that The suspending the default task comprises: Recording interruption information of the default task; The interruption information includes at least one of the following: interruption location information; interruption time information; task progress information, and cabin information corresponding to the default task.

6. The method according to claim 1, characterized in that After the delivery task is completed, executing the suspended default task includes: After the delivery task is completed, if the current time is within the executable time period corresponding to the default task, the default task is executed.

7. The method according to claim 1, characterized in that After the delivery task is completed, executing the suspended default task includes: After the delivery task is completed, if the current time is not within the executable time period corresponding to the default task, the default task is executed when the executable time period is entered.

8. A task execution device, characterized in that: include: A suspending module, used for suspending the default task when the delivery task is triggered, if the default task is being executed and is in the suspendable period of the default task; A first execution module, used for docking with the cargo delivery cabin and executing the cargo delivery task; The second execution module is used to execute the suspended default task after the delivery task is completed.

9. The device according to claim 8, characterized in that The first execution module includes: A cabin changing unit is used for moving to a designated location and changing the current cabin to the cargo delivery cabin before docking the cargo delivery cabin and performing the cargo delivery task if the current cabin is not the cargo delivery cabin; Before executing the suspended default task, move to the designated location and replace the delivery cabin with the current cabin.

10. The device according to claim 8, characterized in that The second execution module is used for: After the delivery task is completed, wait for a set time; If a new delivery task is triggered within the set time, the new delivery task is executed; Otherwise, the default task is executed.

11. The device according to claim 8, characterized in that Also includes: A suspend module, used for recording the interruption information of the default task; The interruption information includes at least one of the following: interruption location information; interruption time information; Mission progress information, cabin information corresponding to the default mission.

12. The device according to claim 8, characterized in that The second execution module is used to execute the default task after the delivery task is completed if the current time is within the executable time period corresponding to the default task.

13. The device according to claim 8, characterized in that The second execution module is used to wait for entering the executable time period to execute the default task after the delivery task is completed if the current time is not within the executable time period corresponding to the default task.

14. A robot, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the task execution method according to any one of claims 1 to 7.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the task execution method as described in any one of claims 1 to 9 is implemented.

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