Factory environment operation system based on humanoid robot, humanoid robot and method

Abstract

The embodiment of the invention provides a factory environment operation system based on a humanoid robot, the humanoid robot and a method. The system comprises at least one human-shaped robot and a task scheduling device, the task scheduling device is used for performing task allocation according to the task information of the at least one to-be-executed task and the information of each humanoid robot to obtain the humanoid robot corresponding to each to-be-executed task, and sending a respective corresponding task instruction to each humanoid robot; and the humanoid robot is used for determining whether the current position is in a task execution area corresponding to the task instruction according to the task instruction, moving to the task execution area if the current position is not in the corresponding task execution area, and executing an operation corresponding to the task instruction. According to the scheme, the appropriate humanoid robot is arranged to complete the corresponding task through the task scheduling device, the factory operation efficiency is greatly improved, and the humanoid robot can adapt to more and more complex environments and tasks.

Description

Technical Field

[0001] The present application relates to robotics technology, and more particularly to a factory environment operation system based on a humanoid robot, a humanoid robot and a method. Background Art

[0002] Although a large number of industrial robots have been put into use in factory environments, most robots can only perform a single task in a specific location and lack versatility. When the factory environment changes, traditional industrial robots are usually difficult to adapt and cannot quickly adjust and continue to perform operations. At the same time, the workpieces produced by factories are usually highly complex and diverse. Traditional industrial robots lack the ability to generalize tasks and still rely on manual task programming and planning.

[0003] In the process of implementing this application, it was found that if pan-humanoid robots (or humanoid robots) with mobility were used to replace traditional industrial robots, the operating efficiency of the factory could be significantly improved. However, in a complex production environment, how to dispatch humanoid robots to complete tasks is a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0004] The embodiments of the present application provide a factory environment operation system based on a humanoid robot, a humanoid robot and a method for realizing reasonable scheduling of the humanoid robot.

[0005] In a first aspect, an embodiment of the present application provides a factory environment operation system based on a humanoid robot, comprising:

[0006] at least one humanoid robot, a task scheduling device;

[0007] The task scheduling device is used to monitor the equipment operation status and material information in the factory environment, determine the health index of each device according to the equipment operation status, generate a three-dimensional material distribution heat map according to the material information, and perform task allocation according to the health index of each device, the three-dimensional material distribution heat map, the task information of at least one task to be performed, and the information of each humanoid robot, obtain the humanoid robot corresponding to each task to be performed, and send the corresponding task instructions to each humanoid robot corresponding to each task to be performed;

[0008] The humanoid robot is used to determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device, and if the current position is not in the task execution area corresponding to the task instruction, move to the task execution area and perform the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, perform the operation corresponding to the task instruction;

[0009] The humanoid robot is specifically used for:

[0010] Parsing the task instruction to obtain first information corresponding to the task to be executed, wherein the first information includes at least one of the following: task type, task priority, task execution area, operations to be executed, resource requirements, and standard requirements for task completion;

[0011] Determining, based on the first information, whether the current position of the humanoid robot is in a task execution area corresponding to the task instruction;

[0012] According to the first information, an operation corresponding to the task instruction is executed.

[0013] In a possible implementation, the humanoid robot is further used for:

[0014] During the task execution process, first feedback information is sent to the task scheduling device, wherein the first feedback information includes at least one of the following: task progress, task stage, and estimated completion time;

[0015] After the task is completed, determining whether the operation corresponding to the task instruction has been completed according to the standard requirements for completing the task;

[0016] If it is determined that the operation corresponding to the task instruction has been completed according to the standard requirements for completing the task, second feedback information is sent to the task scheduling device, and the second feedback information includes at least one of the following: indication information of task completion, the start time of task execution, the end time of task execution, the time node of execution of key steps of the task, task status and abnormal information;

[0017] The humanoid robot is also used for:

[0018] If an exception occurs during the task execution, the operation corresponding to the task instruction is stopped, and third feedback information is sent to the task scheduling device. The third feedback information includes at least one of the following: the location and cause of the exception, and the progress of the current task.

[0019] In a possible implementation manner, for any of the tasks to be executed, the task scheduling device is used to:

[0020] According to the task information of the task to be performed and the information of each of the humanoid robots, at least one of the following operations is performed to obtain an operation result:

[0021] determining whether each of the humanoid robots is in a standby mode;

[0022] Determine whether the current power of each of the humanoid robots is greater than a target power value; the target power value is determined according to the power consumption value of the task to be performed and the current power of each of the humanoid robots;

[0023] Determining whether the current position of each of the humanoid robots is within a preset range of the task execution area of ​​the task to be executed;

[0024] Determining whether the workload of each of the humanoid robots meets the load requirement of the task to be performed;

[0025] According to the operation results corresponding to each of the humanoid robots, the humanoid robot corresponding to the task to be performed is determined, and the task instruction is sent to the humanoid robot corresponding to the task to be performed.

[0026] In a possible implementation, the task scheduling device includes:

[0027] Task scheduling module, robot status monitoring module, first charging management module and task exception handling module;

[0028] The task scheduling module is used to assign a corresponding humanoid robot to each of the tasks to be executed according to the task information of each of the tasks to be executed and the information of each of the humanoid robots, and send the corresponding task instructions to the humanoid robots corresponding to each of the tasks to be executed, wherein the task information of the tasks to be executed includes at least one of the following: task priority, task duration, operation corresponding to the task, resource requirements and standard requirements for task completion; the information of the humanoid robot includes at least one of the following: current position, current state and capability information, and the capability information includes at least one of the following: workload and remaining power;

[0029] The robot status monitoring module is used to monitor the status of the humanoid robot performing a task according to the feedback information sent by the humanoid robot;

[0030] The first charging management module is used to perform charging scheduling management on each of the humanoid robots;

[0031] The task exception processing module is used to perform fault analysis according to the third feedback information sent by the humanoid robot, obtain the fault analysis result, and perform emergency processing according to the fault analysis result; the task scheduling module is also used to:

[0032] The task allocation result or task scheduling strategy is adjusted according to the second information related to each of the tasks to be executed; the second information includes at least one of the following: production line change information, task priority, task progress, task duration, the workload of the humanoid robot, the power of the humanoid robot, and the task completion time of the humanoid robot.

[0033] In a possible implementation manner, the task scheduling device further includes:

[0034] An environment monitoring module, a data acquisition and analysis module, and a task monitoring and display module respectively connected to the task scheduling module;

[0035] The environment monitoring module is used to monitor the equipment operation status and / or material information in the factory environment, wherein the material information includes at least one of the following: material storage information, material distribution information and material consumption information;

[0036] The task scheduling device is specifically used to: determine the humanoid robot scheduling information according to the task information of at least one task to be executed and the information of each of the humanoid robots;

[0037] According to the material three-dimensional distribution heat map and the equipment operation status, the material movement cost is dynamically calculated, wherein the material three-dimensional distribution heat map includes the material storage location, material feeding location, material preset unit distance weight, material delivery priority, material movement distance, preset changeover operation penalty coefficient and preset changeover penalty value of each material;

[0038] According to the equipment health index and the dynamically calculated material movement cost, the first humanoid robot scheduling information is assigned tasks to obtain humanoid robots corresponding to the tasks to be performed;

[0039] The data collection and analysis module is used to collect feedback information from each of the humanoid robots, perform fault prediction based on the feedback information from each of the humanoid robots, and send the fault prediction result to the task scheduling module;

[0040] The task monitoring display module is used to display a task monitoring interface, and the task monitoring interface is used to display the process of each humanoid robot performing a task and / or the factory environment scene.

[0041] In a possible implementation, the robot status monitoring module is further used to:

[0042] When an abnormality occurs to the humanoid robot or an abnormality occurs to the task progress, an instruction message is sent to the task scheduling module to instruct to reallocate the task to be performed by the humanoid robot;

[0043] The first charging management module is specifically used to:

[0044] Determining the charging time and charging position of each of the humanoid robots according to the third information;

[0045] Controlling each of the humanoid robots to charge according to the charging time and charging position of each of the humanoid robots;

[0046] The third information includes at least one of the following: task priority, task progress, estimated task completion time, remaining power of the robot, and charging station location.

[0047] In a possible implementation, the system further includes:

[0048] Charging and battery life device;

[0049] The charging and battery life device comprises: a second charging management module; the second charging management module is used to charge the humanoid robot, record charging data, and feed back the charging data to the task scheduling device; the charging data comprises at least one of the following: charging time, voltage, current, and charging power;

[0050] The second charging management module is further used for:

[0051] After the humanoid robot is fully charged, the power source connected to the humanoid robot is disconnected, and information indicating that charging is completed is fed back to the task scheduling device.

[0052] In a possible implementation manner, the charging and battery life device further includes:

[0053] a fire detection module and a battery protection module connected to the second charging management module;

[0054] Wherein, the fire detection module is used to detect the environmental state of the charging area, and if the environmental state is detected to be abnormal, an alarm message is output;

[0055] The battery protection module is used to perform at least one of the following functions: overcharge protection, over-discharge protection, short circuit protection and overheat protection.

[0056] In a second aspect, an embodiment of the present application provides a humanoid robot, which is applied to a factory environment operation system based on a humanoid robot as described in the first aspect and / or any possible implementation of the first aspect, wherein the humanoid robot comprises:

[0057] A robot body, and a processor disposed in the robot body;

[0058] Among them, the processor is used to determine whether the current position of the robot body of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device; if the current position is not in the task execution area corresponding to the task instruction, it moves to the task execution area and performs the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, it performs the operation corresponding to the task instruction; the task scheduling device is used to assign tasks according to the task information of at least one task to be executed and the information of at least one humanoid robot, obtain the humanoid robots corresponding to each of the tasks to be executed, and send the corresponding task instructions to each of the humanoid robots corresponding to the tasks to be executed.

[0059] In a third aspect, an embodiment of the present application provides a factory environment operation method based on a humanoid robot, which is applied to a system as described in the first aspect and / or any one of various possible implementations of the first aspect, and the method includes:

[0060] Monitor the equipment operation status and material information in the factory environment to determine the health index of each equipment according to the equipment operation status, generate a three-dimensional material distribution heat map according to the material information, and perform task allocation according to the health index of each equipment, the three-dimensional material distribution heat map, the task information of at least one task to be performed, and the information of each humanoid robot, obtain the humanoid robot corresponding to each task to be performed, and send the corresponding task instructions to each humanoid robot corresponding to each task to be performed;

[0061] Control the humanoid robot to determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction; if the current position is not in the task execution area corresponding to the task instruction, control the humanoid robot to move to the task execution area and perform the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, control the humanoid robot to perform the operation corresponding to the task instruction;

[0062] Control the humanoid robot to parse the task instruction to obtain first information corresponding to the task to be executed, wherein the first information includes at least one of the following: task type, task priority, task execution area, operations to be performed, resource requirements, and standard requirements for task completion; based on the first information, determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction; based on the first information, execute the operation corresponding to the task instruction.

[0063] The factory environment operation system, humanoid robot and method based on humanoid robots provided in the embodiment of the present application, the task scheduling device is used to monitor the equipment operation status and material information in the factory environment, so as to determine the health index of each equipment according to the equipment operation status, generate a three-dimensional material distribution heat map according to the material information, and perform task allocation according to the health index of each equipment, the three-dimensional material distribution heat map, the task information of at least one task to be performed and the information of each humanoid robot, so as to obtain the humanoid robot corresponding to each task to be performed, that is, according to the task information of the task to be performed and the information of the humanoid robot, a suitable humanoid robot can be selected to perform the task, and the corresponding task instructions are sent to the humanoid robots corresponding to each task to be performed; further, the humanoid robot determines whether the current position is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device, if the current position is not in the task execution area corresponding to the task instruction, then moves to the task execution area and performs the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, then performs the operation corresponding to the task instruction, through the cooperation between the task scheduling device and the humanoid robot, the operation efficiency can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0065] Figure 1 Schematic diagram of the architecture of the factory environment operation system based on humanoid robots provided in this application Figure 1 ;

[0066] Figure 2 Schematic diagram of the process of the factory environment operation system based on humanoid robots provided in this application Figure 1 ;

[0067] Figure 3 Schematic diagram of the process of the factory environment operation system based on humanoid robots provided in this application Figure 2 ;

[0068] Figure 4 Schematic diagram of the process of the factory environment operation system based on humanoid robots provided in this application Figure 3 ;

[0069] Figure 5 The second schematic diagram of the architecture of the factory environment operation system based on the humanoid robot provided in this application;

[0070] Figure 6 A schematic diagram of the structure of the humanoid robot provided for this application;

[0071] Figure 7Schematic diagram of the process of the factory environment operation method based on the humanoid robot provided in this application Figure 1 .

[0072] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0073] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the above summary of the invention.

[0074] First, the terms involved in this application are explained:

[0075] The humanoid robot in the embodiments of the present application may also refer to a pan-humanoid robot.

[0076] A pan-humanoid robot refers to a humanoid robot with mobility, with upper limbs of humanoid structure and two arms for performing tasks. The end effector can replace different actuator components according to the specific items or workpieces, including but not limited to two-finger grippers, three-finger grippers, five-finger dexterous hands, etc. Optionally, a camera can be added to the end effector to identify and feedback the operation process and for data recording. The lower limbs can be a wheeled structure or a leg-foot structure to support the movement of the pan-humanoid robot in a factory environment. The wheeled mobile structure includes but is not limited to a two-wheel differential, a two-wheel differential plus a steering wheel, a four-wheel differential or a Metnam omnidirectional wheel structure. The legged mobile structure includes a two-legged and two-foot structure, a four-legged structure, etc.

[0077] The specific application scenario of the present application is to perform tasks for humanoid robots, pan-humanoid robots or embodied robots according to task instructions issued by a task scheduling device.

[0078] Combined with the above scenarios, it can be seen that most robots in the existing technology can only perform a single task in a specific location. If humanoid robots are used in complex production environments, they face multiple challenges in factory task scheduling and robot task planning.

[0079] The factory environment operation system based on humanoid robots provided in the present application determines the health index of each device according to the operating status of the equipment through a task scheduling device, generates a three-dimensional material distribution heat map according to material information, and distributes tasks according to the health index of each device, the three-dimensional material distribution heat map, the task information of at least one task to be executed, and the information of each humanoid robot, and selects a suitable humanoid robot to complete the corresponding task, which can improve operation efficiency.

[0080] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0081] Figure 1 Schematic diagram of the architecture of the factory environment operation system based on humanoid robots provided in this application Figure 1 ,like Figure 1 As shown, the system includes:

[0082] At least one humanoid robot 100 ( Figure 1 Two humanoid robots are shown), task scheduling device 200;

[0083] The task scheduling device 200 is used to monitor the equipment operation status and material information in the factory environment, determine the health index of each equipment according to the equipment operation status, generate a three-dimensional material distribution heat map according to the material information, and perform task allocation according to the health index of each equipment, the three-dimensional material distribution heat map, the task information of at least one task to be performed, and the information of each humanoid robot 100, obtain the humanoid robot 100 corresponding to each task to be performed, and send the corresponding task instructions to the humanoid robots 100 corresponding to each task to be performed;

[0084] The humanoid robot 100 is used to determine whether the current position of the humanoid robot 100 is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device 200. If the current position is not in the task execution area corresponding to the task instruction, it moves to the task execution area and performs the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, it performs the operation corresponding to the task instruction.

[0085] Specifically, when assigning tasks, the task scheduling device counts the information of all humanoid robots connected to the operating system. The task scheduling device is used to monitor the equipment operating status and material information in the factory environment, so as to determine the health index of each equipment according to the equipment operating status, generate a three-dimensional material distribution heat map according to the material information, and assign tasks according to the health index of each equipment, the three-dimensional material distribution heat map, the task information of at least one task to be executed and the information of each humanoid robot, and select a suitable robot to perform the task. For example, the humanoid robot corresponding to each task to be executed is determined by considering whether the robot's power, executable workload, etc. match the requirements of the task to be executed, and the corresponding task instructions are sent to the humanoid robots corresponding to each task to be executed.

[0086] The humanoid robot receives the task instruction sent by the task scheduling device, and determines whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction based on the received task instruction. If the current position is not in the task execution area corresponding to the task instruction, it moves to the task execution area and executes the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, it directly executes the operation corresponding to the task instruction.

[0087] Optionally, when assigning tasks, factors such as task priority (e.g., represented by the urgency of the task, where the more urgent the task, the higher the priority), the current position of the robot, the current state of the robot, and its capabilities (e.g., workload, remaining battery power, etc.) may be considered.

[0088] The current status of the robot includes, for example, being in standby mode (i.e., in standby state), executing a task, charging, or failing.

[0089] In the factory environment operation system based on humanoid robots provided in the embodiment of the present application, the task scheduling device determines the health index of each device according to the operation status of the device, generates a three-dimensional material distribution heat map according to the material information, and performs task allocation according to the health index of each device, the three-dimensional material distribution heat map, the task information of at least one task to be executed and the information of each humanoid robot, so as to obtain the humanoid robots corresponding to each task to be executed, that is, according to the task information of the task to be executed and the information of the humanoid robot, a suitable humanoid robot can be selected to perform the task, and the corresponding task instructions are sent to the humanoid robots corresponding to each task to be executed; further, the humanoid robot determines whether the current position is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device. If the current position is not in the task execution area corresponding to the task instruction, it moves to the task execution area and executes the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, it executes the operation corresponding to the task instruction. Through the cooperation between the task scheduling device and the humanoid robot, the operation efficiency can be greatly improved.

[0090] For example, Figure 2 As shown, the robot task execution process is described by taking the humanoid robot factory batching as an example. The following example is a pan-humanoid robot with upper limbs and arms and lower limbs with wheels. This example can also be used for a humanoid robot with upper limbs and arms and lower limbs with legs. The pan-humanoid robot receives the task instruction corresponding to the batching task issued by the task scheduling device and confirms its current position. If the robot's current position is not in the batching area (that is, the task execution area corresponding to the batching task), the wheeled chassis is started to move to the batching area. After arriving at the batching area, the robot checks the batching list issued by the task scheduling device (the task instruction includes the batching list) and confirms the equipment, material information and task requirements in the factory batching scene, including shelves (with corresponding goods) and batching shelves (warehouses for placing specified goods). According to the task list, the robot first determines the content of the items to be taken away, then moves autonomously to the corresponding shelf, picks up the required goods, and delivers the goods to the designated location on the batching shelf. Every time a batching task of a product is completed, the robot will feedback the work progress to the task scheduling device. After all the items in the delivery list are complete, the robot will feedback the task completion information to the task scheduling device and enter the standby state, ready to receive new task instructions.

[0091] Optionally, the humanoid robot and the task scheduling device may communicate via a wireless connection, such as Bluetooth, Wi-Fi, etc.

[0092] In some embodiments, a humanoid robot is specifically used to:

[0093] Parsing the task instruction to obtain first information corresponding to the task to be executed, the first information including at least one of the following: task type, task priority, task execution area, operations to be executed, resource requirements, and standard requirements for task completion;

[0094] Determining, based on the first information, whether the current position of the humanoid robot is in a task execution area corresponding to the task instruction;

[0095] According to the first information, an operation corresponding to the task instruction is executed.

[0096] Specifically, after receiving the task instruction, the humanoid robot parses the task instruction to confirm the task execution area, the operations to be performed, the resource requirements, the standard requirements for task completion, etc. The resource requirements include, for example: load requirements, power requirements, required material information, etc.

[0097] The task types include, for example, handling tasks, inspection tasks, and the like.

[0098] The humanoid robot determines whether its current position is in the task execution area based on the analyzed content. If the current position is not in the task execution area, it moves to the task execution area and performs corresponding operations based on the first information obtained from the analysis. If the current position is in the task execution area, it directly performs corresponding operations based on the first information obtained from the analysis.

[0099] Exemplarily, according to the content of the task instruction, the humanoid robot starts the corresponding operation process, such as extracting, transporting or distributing materials.

[0100] In some embodiments, the humanoid robot is further used to:

[0101] During the task execution process, first feedback information is sent to the task scheduling device, where the first feedback information includes at least one of the following: task progress, task stage, and estimated completion time;

[0102] After the task is completed, determine whether the operations corresponding to the task instructions have been completed in accordance with the standard requirements for task completion;

[0103] If it is determined that the operation corresponding to the task instruction has been completed in accordance with the standard requirements for task completion, a second feedback information is sent to the task scheduling device, and the second feedback information includes at least one of the following: indication information of task completion, the start time of task execution, the end time of task execution, the time node for execution of key steps of the task, task status and exception information.

[0104] Specifically, during the execution of the task, the humanoid robot feeds back information such as the task progress to the task scheduling device in real time or periodically to ensure that the task scheduling device understands the status of the current task. The first feedback information includes the task progress, the task stage, the estimated completion time, etc.

[0105] The task progress may include a percentage of task completion, and the task stage may include “in progress”, “waiting for the next step”, or “completed”.

[0106] When the humanoid robot completes the assigned task, it first performs internal confirmation, that is, determines whether the operations corresponding to the task instructions have been completed in accordance with the standard requirements for task completion, to ensure that the task has been completed as required.

[0107] After the task is confirmed to be completed, the humanoid robot will feedback the task completion status and other information to the task scheduling device, such as uploading a detailed task log (i.e., the second feedback information). The log includes the start time, end time, time nodes of the key steps of the task, task status, and abnormal information, which is convenient for the task scheduling device to record and track.

[0108] The task status includes, for example, being executed, pending, completed, etc.

[0109] In the above implementation, the humanoid robot can send feedback information to the task scheduling device during or after the task is completed, so that the task scheduling device can be informed of the status of the humanoid robot's task execution in a timely manner, thereby improving the accuracy of task scheduling.

[0110] In some embodiments, the humanoid robot is further used to:

[0111] If an exception occurs during task execution, the operation corresponding to the task instruction is stopped, and third feedback information is sent to the task scheduling device. The third feedback information includes at least one of the following: the location and cause of the exception, and the progress of the current task.

[0112] Specifically, if an abnormality occurs during the execution process that causes the task to fail to be completed, such as an operation error or a blocked path, the humanoid robot will stop the task and immediately send a third feedback message to the task scheduling device.

[0113] Optionally, the third feedback information includes the specific location where the exception occurred, the cause (such as detection of an obstacle, insufficient power, etc.), and the progress of the current task.

[0114] For example, Figure 3 As shown, the humanoid robot receives the task instruction from the task scheduling device, executes the task according to the task instruction, confirms whether the task is completed, and if so, feedbacks completion; the humanoid robot waits for the task instruction; if not, feedbacks task failure and uploads task data.

[0115] Optionally, the task scheduling device decides whether to re-issue the task instruction based on the third feedback information, requiring the humanoid robot to restart the task, or to enter a standby state and wait for a new task assignment after the task is terminated.

[0116] In the above implementation, when an abnormality occurs during the execution of a task, the humanoid robot can send feedback information to the task scheduling device, so that the task scheduling device can be informed of the abnormality in a timely manner and intervene in a timely manner to ensure the efficient operation of the system.

[0117] In some embodiments, for any task to be executed, the task scheduling device is used to:

[0118] According to the task information of the task to be executed and the information of each humanoid robot, at least one of the following operations is performed to obtain an operation result:

[0119] determining whether each humanoid robot is in a standby mode;

[0120] Determine whether the current power of each humanoid robot is greater than a target power value; the target power value is determined according to the power consumption value of the task to be performed and the current power of each humanoid robot;

[0121] Determining whether the current position of each humanoid robot is within a preset range of a task execution area of ​​the task to be executed;

[0122] Determine the workload of each humanoid robot to see if it meets the load requirements of the task to be performed;

[0123] According to the operation results corresponding to each humanoid robot, the humanoid robot corresponding to the task to be performed is determined, and a task instruction is sent to the humanoid robot corresponding to the task to be performed.

[0124] Specifically, according to the task information of the task to be executed, the task scheduling device will evaluate all humanoid robots connected to the operating system and select the most suitable humanoid robot to execute the task. Factors to be considered include but are not limited to: task priority, current state and position of the humanoid robot, and its capability information (such as load, remaining power, etc.).

[0125] For example, determine whether the humanoid robot is in standby mode to ensure that the task can be executed immediately and without interruption; determine whether the humanoid robot has sufficient power; determine whether the position of the humanoid robot is suitable for performing the task, such as whether the position of the humanoid robot is within the preset range of the task execution area, to ensure that it arrives at the task execution area in time to perform the task; determine whether the current executable workload of the humanoid robot meets the load requirements of the task to be performed, for example, if the current executable workload of a humanoid robot is 50 kilograms and the load requirement of the task to be performed is 100 kilograms, then the humanoid robot does not meet the load requirement of the task to be performed.

[0126] Issue task instructions: The task scheduling device issues task instructions to the selected humanoid robot to control the humanoid robot to start executing the task. The task instruction will trigger the robot to switch from standby mode to task execution mode and perform the corresponding operation.

[0127] Optionally, when assigning tasks, suitable humanoid robots may be assigned to tasks with higher priority levels, for example, suitable humanoid robots may be assigned to more urgent tasks, such as humanoid robots with sufficient power and capable of meeting load requirements.

[0128] In the above implementation manner, the task scheduling device determines the humanoid robot corresponding to the task to be executed based on the result obtained from at least one situation, and the accuracy of task scheduling is relatively high.

[0129] In some embodiments, the task scheduling device includes:

[0130] Task scheduling module, robot status monitoring module, first charging management module and task exception handling module;

[0131] The task scheduling module is used to assign a corresponding humanoid robot to each task to be executed according to the task information of each task to be executed and the information of each humanoid robot, and send the corresponding task instructions to the humanoid robots corresponding to each task to be executed. The task information of the task to be executed includes at least one of the following: task priority, task duration, operation corresponding to the task, resource requirements and standard requirements for task completion; the information of the humanoid robot includes at least one of the following: current position, current state and capability information, and the capability information includes at least one of the following: workload and remaining power;

[0132] A robot status monitoring module, used to monitor the status of the humanoid robot performing tasks according to feedback information sent by the humanoid robot;

[0133] A first charging management module, used for performing charging scheduling management on each humanoid robot;

[0134] The task exception processing module is used to perform fault analysis according to the third feedback information sent by the humanoid robot, obtain the fault analysis result, and perform emergency processing according to the fault analysis result.

[0135] Specifically, the task scheduling module is used to monitor the equipment operating status and material information in the factory environment, determine the health index of each device according to the equipment operating status, generate a three-dimensional material distribution heat map according to the material information, and assign tasks according to the health index of each device, the task information of at least one task to be performed in the three-dimensional material distribution heat map, and the information of each humanoid robot, and select a suitable robot to perform the task. For example, consider the task priority, the robot's power, and the position, determine the humanoid robot corresponding to each task to be performed, and send the corresponding task instructions to the humanoid robots corresponding to each task to be performed.

[0136] Optionally, the robot status monitoring module monitors the status of each humanoid robot performing a task, including but not limited to: position, work progress, status (such as standby, task execution, charging, fault, etc.) and health status.

[0137] For example, when the humanoid robot starts to perform a task, the robot status monitoring module will start the real-time monitoring function to track the task progress of the humanoid robot. The humanoid robot will regularly feedback the progress information of the task execution to the robot status monitoring module, including: task progress (such as the percentage of the task currently completed), key data in task execution (such as power consumption, position update, estimated completion time, etc.). The robot status monitoring module updates the working status of the robot in real time based on the feedback information to ensure that the task scheduling device always grasps the execution dynamics of the task.

[0138] Optionally, the robot state monitoring module may transmit the position information of the humanoid robot to the task scheduling module, and the task scheduling module performs task allocation or adjusts the task allocation result based on the position information to ensure the accuracy of task allocation.

[0139] In some embodiments, the robot status monitoring module is further used to:

[0140] When an abnormality occurs in the humanoid robot or the task progress is abnormal, an instruction message is sent to the task scheduling module to instruct the re-allocation of the task to be performed by the humanoid robot.

[0141] Optionally, the robot status monitoring module provides early warning and monitoring of the robot status, and the task scheduling module can provide an automatic adjustment mechanism for task scheduling based on the early warning and monitoring results. For example, when a robot abnormality is found or the task progress is behind schedule, the task scheduling module will automatically adjust the task allocation result or trigger a backup plan.

[0142] Optionally, the first charging management module performs charging scheduling management on each humanoid robot to ensure that the humanoid robot has sufficient power to continue to perform other tasks or return to the charging station after completing a task.

[0143] For example, when the power of the humanoid robot is lower than the set threshold, the first charging management module will assign it to the charging station for automatic charging, or prioritize it back to the charging station for charging according to task requirements. For example, when the power of the humanoid robot is greater than the set threshold, but a task needs to be performed in 30 minutes, it can be charged first to ensure that there is enough power to perform subsequent tasks, ensuring that the system always maintains a high working efficiency.

[0144] Optionally, the task exception handling module has an automated exception detection and response function, which can perform fault analysis based on the third feedback information sent by the humanoid robot, obtain fault analysis results, and perform emergency processing based on the fault analysis results, such as notifying maintenance personnel or the task scheduling module. The task scheduling module can reallocate the task to other robots, or choose to suspend the task and perform troubleshooting based on the severity of the fault.

[0145] For example, when the robot encounters an anomaly (such as sensor failure, execution error, path obstacle, power exhaustion, etc.) during the execution of a task, the task anomaly handling module identifies and analyzes the fault based on the monitoring results of the robot status monitoring module and / or the feedback information of the humanoid robot and takes predetermined emergency measures.

[0146] In the above implementation, the task scheduling device can not only perform task scheduling, but also monitor the robot status and manage the charging of the robot. Furthermore, it can also perform exception processing based on the feedback information of the humanoid robot, such as performing fault analysis, obtaining fault analysis results, and performing emergency processing based on the fault analysis results, thereby making the system more stable.

[0147] In some embodiments, the task scheduling module is further configured to:

[0148] The task allocation result or task scheduling strategy is adjusted according to the second information related to each task to be executed; the second information includes at least one of the following: production line change information, task priority, task progress, task duration, workload of the humanoid robot, power of the humanoid robot, and task completion time of the humanoid robot.

[0149] Specifically, the task scheduling module performs efficient scheduling and real-time optimization by comprehensively considering factors such as task priority, task duration (i.e., the man-hour requirement of the task), the current workload of the humanoid robot, power consumption, and the estimated task completion time.

[0150] The operating system supports dynamic task allocation. When changes occur during task execution (for example, task difficulty increases or robot fails), the task scheduling device can adjust the task allocation results or task scheduling strategy, or reallocate tasks to ensure efficient operation of the production line.

[0151] Optionally, the task scheduling strategy includes, for example: giving priority to urgent tasks, giving priority to tasks according to their duration, allocating robots according to proximity, etc.

[0152] Optionally, the production line change information includes, for example: production equipment change information and material change information.

[0153] For example, the task scheduling module adjusts the execution order of tasks and the assigned humanoid robots according to the second information, optimizes the workflow, and reduces idle time and task conflicts.

[0154] In the above implementation, the task scheduling module adjusts the task allocation result or the task scheduling strategy, so as to ensure the efficient operation of the system.

[0155] In some embodiments, the task scheduling device further includes:

[0156] An environment monitoring module, a data acquisition and analysis module, and a task monitoring and display module respectively connected to the task scheduling module;

[0157] The environment monitoring module is used to monitor the equipment operation status and / or material information in the factory environment, and the material information includes at least one of the following: material storage information, material distribution information and material consumption information;

[0158] The task scheduling device is specifically used to: determine the first humanoid robot scheduling information according to the task information of at least one task to be executed and the information of each humanoid robot;

[0160] According to the material three-dimensional distribution heat map and the equipment operation status, the material movement cost is dynamically calculated, wherein the material three-dimensional distribution heat map includes the material storage location, material feeding location, material preset unit distance weight, material waiting distribution priority, material movement distance, preset changeover operation penalty coefficient and preset changeover penalty value of each material;

[0161] According to the equipment health index and the dynamically calculated material movement cost, the first humanoid robot scheduling information is assigned tasks to obtain the humanoid robots corresponding to the tasks to be performed;

[0162] The data collection and analysis module is used to collect feedback information from each humanoid robot, perform fault prediction based on the feedback information from each humanoid robot, and send the fault prediction results to the task scheduling module;

[0163] The task monitoring display module is used to display the task monitoring interface, which is used to display the process of each humanoid robot performing a task and / or the factory environment scene.

[0164] Specifically, the environment monitoring module monitors the operating status of equipment in the entire factory environment, including production line equipment, transmission devices, material storage equipment, etc. By monitoring data in real time or periodically, the normal operation of the equipment is ensured to avoid equipment failure affecting the task execution of the humanoid robot.

[0165] If some equipment fails or requires maintenance, the task scheduling module will reallocate tasks based on the current status of the equipment to prevent the humanoid robot from performing tasks related to the failed equipment.

[0166] In this embodiment, the humanoid robot scheduling information is determined based on the task information of at least one task to be executed and the information of each humanoid robot. The task scheduling module may be based on the preset path planning algorithm, the real-time position information of the humanoid robot, the driving speed of the humanoid robot, the power status of the humanoid robot and other humanoid robot related information, and the matching relationship between each humanoid robot and the task to be executed and the task execution start time of each humanoid robot calculated by the artificial intelligence model. The artificial intelligence model may be a neural network model or a big data model trained using the equipment operation status and material information in the factory environment.

[0167] In this embodiment, the running device status may include a preset device weight coefficient, a state deviation, a current device status value, a preset reference value, and a preset fluctuation threshold value for each running device;

[0168] Accordingly, according to the operating equipment status in the factory environment, the calculation formula for determining the health index of each device is:

[0169] Hi = Σ(ωi × Si) / Σωi

[0170] In the formula, Hi is the health index of the i-th operating equipment in the factory environment, ωi is the preset equipment weight coefficient of the i-th operating equipment in the factory environment, Si is the state deviation of the i-th operating equipment in the factory environment, where Si=|current state value of the equipment-preset reference value| / preset fluctuation threshold, and i is a natural number greater than 0.

[0171] In this embodiment, generating a three-dimensional material distribution heat map based on material information can be achieved by inputting all material-related information in the factory environment into a pre-installed mapping software to generate a three-dimensional material distribution heat map in the factory environment.

[0172] In this embodiment, the material three-dimensional distribution heat map includes the material storage location, material feeding location, material preset unit distance weight, material delivery priority, material moving distance, preset type change operation penalty coefficient and preset type change penalty value of each material. According to the material three-dimensional distribution heat map and the equipment operation status, the calculation formula used for dynamically calculating the material movement cost is obtained:

[0173] Cxy=α×dis+β×ch+γ×pr

[0174] Where Cxy is the dynamically calculated material movement cost of moving the material from position x to position y, α is the preset unit distance weight, dis is the distance from position x to position y (material movement distance), β is the preset changeover operation penalty coefficient, ch is the preset changeover penalty value, γ is the material delivery priority, where x is the material storage location in the material three-dimensional heat map and y is the material delivery location in the material three-dimensional heat map.

[0175] In this embodiment, dis can be the shortest path determined after considering the factory environment information, such as the actual material moving distance after considering obstacles or bypassing operators in the factory environment, which is generally a non-linear distance. The preset changeover operation penalty coefficient can be the extra time consumption cost corresponding to each material, such as the time cost of cleaning the hopper for storing materials or the time cost of changing the material handling tool of the humanoid robot.

[0176] In this embodiment, task assignment is performed on the first humanoid robot scheduling information according to the equipment health index and the dynamically calculated material movement cost, and the humanoid robots corresponding to each task to be executed can be obtained by inputting the equipment health index, the dynamically calculated material movement cost and the first humanoid robot scheduling information into a trained artificial intelligence big model, and then the humanoid robots corresponding to each task to be executed can be obtained through calculation by the artificial intelligence big model.

[0177] Based on the above embodiment, in an optional embodiment of the present application, the task control scheduling module is also used to: determine the real-time task priority of each task to be executed according to the equipment operation status, material information and task information of at least one task to be executed. The real-time task priority of the task to be executed can be used for the subsequent humanoid robot to dynamically adjust the humanoid robot to execute the corresponding task to be executed according to the task instruction issued by the task scheduling device. It is also possible to predict the humanoid robot to be scheduled for the next task to be executed based on the equipment operation status and material information, and schedule the humanoid robot in idle state in advance, so as to further improve the operation efficiency of the factory environment operation system based on humanoid robots.

[0178] Optionally, the environmental monitoring module can track the storage, distribution and consumption of materials in the factory. Tracking materials through sensors, RFID and other devices ensures sufficient supply of materials and prevents shortage or waste of materials.

[0179] When material inventory is insufficient or the material storage volume changes, the task scheduling module can adjust the task schedule in a timely manner to ensure that the robot can obtain the required materials in time and continue to perform the task.

[0180] Optionally, the data collection and analysis module continuously collects and analyzes feedback information from the robot, such as data during the execution of tasks, including but not limited to task completion time, execution quality feedback, robot health status, etc. These data can not only be used to optimize the current task scheduling, but also provide a basis for future task allocation and scheduling strategy adjustment.

[0181] The data collection and analysis module can also perform predictive analysis based on the collected historical data, such as predicting possible failures or bottlenecks, so that the task scheduling device can process or adjust them in advance.

[0182] Optionally, the data acquisition and analysis module is also used to generate task execution reports, including key data during the execution process (such as time consumption, task execution quality assessment, etc.), exception handling records, and robot status, which can provide data support for later optimization of task scheduling and factory production.

[0183] Optionally, the task monitoring display module can provide a real-time task monitoring interface, which is used to display the process of each humanoid robot performing a task and / or the factory environment scene, so that managers can track the execution progress, quality and efficiency of each task.

[0184] Optionally, after the humanoid robot completes the task, the task scheduling device can generate a detailed task execution report, including key data during the execution process (such as time consumption, quality assessment, etc.), exception handling records, and robot status. This report provides data support for later optimization of task scheduling and factory production.

[0185] In the above implementation, the task scheduling device can also perform environmental monitoring, data collection and analysis, and task monitoring and display, with comprehensive functions, greater system flexibility, and higher system stability.

[0186] In some embodiments, the first charging management module is specifically configured to:

[0187] determining a charging time and a charging position for each humanoid robot according to the third information;

[0188] Controlling each humanoid robot to charge according to the charging time and charging position of each humanoid robot;

[0189] The third information includes at least one of the following: task priority, task progress, estimated task completion time, remaining power of the robot, and charging station location.

[0190] Specifically, the first charging management module is used to provide a charging task scheduling function, which can determine the charging time and charging location of each humanoid robot according to factors such as task priority, robot power status, and charging station location, and control each humanoid robot to charge.

[0191] For example, the humanoid robot's task is expected to be completed in 10 minutes, and the humanoid robot can be controlled to charge after 10 minutes, for example, by selecting a nearby charging station for charging.

[0192] In the above implementation, the charging time and charging position of each humanoid robot are determined based on the third information; and each humanoid robot is controlled to charge based on the charging time and charging position of each humanoid robot. This achieves reasonable scheduling and management of the charging tasks of the humanoid robots and improves the charging efficiency.

[0193] Optionally, the task scheduling device may further include: a communication positioning module, which is used to provide real-time positioning and communication support for the humanoid robot. The communication positioning module can serve as an interface for the humanoid robot to communicate with the task scheduling device, and the communication positioning module can also provide the current position of the humanoid robot in the factory environment map according to the positioning information of the humanoid robot.

[0194] For example, Figure 4 As shown, the process of the system is as follows:

[0195] S1. When assigning tasks, the task scheduling device collects information about the connected humanoid robots;

[0196] S2, the task scheduling device performs task allocation and instruction issuance;

[0197] S3, humanoid robot performs tasks and provides progress feedback;

[0198] S4, determine whether the task is completed;

[0199] S5. If the humanoid robot successfully completes the task, the humanoid robot will feedback the task completion status to the task scheduling device;

[0200] Optionally, after receiving the feedback, the task scheduling device records the task completion status, generates a task completion report, archives the task data, and confirms that the task has been completed as expected.

[0201] S6. If the humanoid robot fails to complete the task, a task failure feedback is provided;

[0202] Optionally, if the task is not completed, the humanoid robot will provide detailed task execution data and feedback on the task failure. The feedback information includes: task execution time, the status of each sensor of the robot, the robot joint angle, motion trajectory, speed and other key control data, and the status information of the end effector (such as gripper, tool, etc.).

[0203] S7, the task scheduling device can perform task analysis and report generation;

[0204] Optionally, after receiving the information fed back by the humanoid robot, the task scheduling device will mark the task as "failed" and start data analysis to find the cause of the task failure.

[0205] For example, the task scheduling device conducts a detailed analysis of the task execution data fed back by the humanoid robot to find the root cause of the task failure. The analysis content includes: robot hardware failure, environmental factors, task planning problems, etc.

[0206] Based on the analysis results, the task scheduling device generates a task failure analysis report, which lists in detail the cause of failure, the status of the robots involved, the task execution log and other key data for subsequent processing and decision-making.

[0207] S8, the task scheduling device makes decisions and processes;

[0208] Optionally, if the task failure is caused by factors such as manual operation and task planning, the task scheduling device will send a task failure analysis report to the operator, waiting for manual intervention. The operator can re-plan the task, adjust the factory production schedule, or repair the equipment based on the analysis report.

[0209] If the reason for the task failure is relatively simple and the system can repair itself (such as restarting the humanoid robot, adjusting the task allocation, etc.), the task scheduling device will choose to automatically restart the task, or reallocate the task to other humanoid robots in normal status for execution.

[0210] S9. The task scheduling device performs task scheduling and updating.

[0211] Optionally, based on the results and decision of the analysis report, the task scheduling device updates the task status and decides whether to reschedule the task. If the task can be continued on other humanoid robots, the task scheduling device automatically assigns the task to another available humanoid robot.

[0212] If the system cannot recover automatically, the task scheduling device will mark the task as "ended" or "standby" to wait for human intervention or subsequent instructions.

[0213] Optionally, the task scheduling device always keeps in communication with the humanoid robot to ensure that information such as task status, progress, error reporting, etc. are synchronized and in place, thereby ensuring the overall coordination and real-time performance of the system.

[0214] In some embodiments, Figure 5 As shown, the operating system also includes:

[0215] Charging and battery life device 300;

[0216] Among them, the charging and endurance device 300 includes: a second charging management module; the second charging management module is used to charge the humanoid robot, record charging data, and feedback the charging data to the task scheduling device; the charging data includes at least one of the following: charging time, voltage, current, and charging power.

[0217] Specifically, during the charging process, the second charging management module will regularly record charging data, including charging time, voltage, current, charging power and other information, and upload the data to the task scheduling device for subsequent analysis and management.

[0218] In some embodiments, the second charging management module is further configured to:

[0219] After the humanoid robot is fully charged, the power source connected to the humanoid robot is disconnected, and the charging completion information is fed back to the task scheduling device.

[0220] Specifically, when the humanoid robot is fully charged, the second charging management module will automatically disconnect the power supply connected to the humanoid robot to avoid overcharging, and report the charging completion status to the task scheduling device.

[0221] In some embodiments, the charging and battery life device 300 further includes:

[0222] a fire detection module and a battery protection module connected to the second charging management module;

[0223] Among them, the fire detection module is used to detect the environmental status of the charging area. If an abnormal environmental status is detected, an alarm message is output;

[0224] The battery protection module is used to perform at least one of the following functions: overcharge protection, over-discharge protection, short circuit protection and overheat protection.

[0225] Specifically, the charging endurance device can also be equipped with a highly sensitive fire detection module, such as a temperature sensor, a smoke detector, etc., to monitor the environmental status of the charging area in real time. For example, if an abnormal temperature rise or smoke is detected, the fire detection module will immediately trigger an alarm and take emergency shutdown or power-off measures.

[0226] Optionally, the charging and battery life device may also have battery protection and overcharge protection functions. The charging and battery life module has a built-in battery protection module, including overcharge protection, over-discharge protection, short circuit protection, overheat protection, etc. These protection functions can ensure that the battery of the humanoid robot will not have safety accidents during the charging process, and avoid the battery from catching fire or exploding due to abnormal conditions.

[0227] Optionally, the charging area needs to have good isolation and protection measures, including firewalls, electrical isolation, etc., to ensure that when a fault occurs during the charging process, the spread of fire can be effectively isolated and controlled, while protecting other equipment and humanoid robots from being affected.

[0228] In summary, compared to the scenario where traditional industrial robots operate in factories, where one robot can only perform one task and has a fixed workstation, the present application embodiment uses a pan-humanoid robot with mobile capabilities to replace the industrial robot, which can enable the pan-humanoid robot to adapt to more complex environments and tasks. Through the task scheduling device, using a suitable pan-humanoid robot to complete the corresponding task also greatly improves the factory operation efficiency.

[0229] Figure 6 This is a schematic diagram of the structure of the humanoid robot provided in this application. Figure 6 As shown, the humanoid robot provided in this embodiment is applied to the factory environment operation system based on the humanoid robot described in the above system embodiment, and the humanoid robot includes:

[0230] A robot body, and a processor 601 disposed in the robot body;

[0231] Among them, the processor 601 is used to determine whether the current position of the robot body of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device. If the current position is not in the task execution area corresponding to the task instruction, it moves to the task execution area and performs the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, it performs the operation corresponding to the task instruction; the task scheduling device is used to assign tasks according to the task information of at least one task to be executed and the information of at least one humanoid robot, obtain the humanoid robots corresponding to each task to be executed, and send the corresponding task instructions to the humanoid robots corresponding to each task to be executed.

[0232] In a possible implementation manner, the processor 601 is specifically configured to:

[0233] Parsing the task instruction to obtain first information corresponding to the task to be executed, the first information including at least one of the following: task type, task priority, task execution area, operations to be executed, resource requirements, and standard requirements for task completion;

[0234] According to the first information, it is determined whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction.

[0235] In a possible implementation manner, the processor 601 is further configured to:

[0236] During the task execution process, first feedback information is sent to the task scheduling device, where the first feedback information includes at least one of the following: task progress, task stage, and estimated completion time;

[0237] After the task is completed, determine whether the operations corresponding to the task instructions have been completed in accordance with the standard requirements for task completion;

[0238] If it is determined that the operation corresponding to the task instruction has been completed in accordance with the standard requirements for task completion, a second feedback information is sent to the task scheduling device, and the second feedback information includes at least one of the following: indication information of task completion, the start time of task execution, the end time of task execution, the time node for execution of key steps of the task, task status and exception information.

[0239] In a possible implementation manner, the processor 601 is further configured to:

[0240] If an exception occurs during task execution, the operation corresponding to the task instruction is stopped, and third feedback information is sent to the task scheduling device. The third feedback information includes at least one of the following: the location and cause of the exception, and the progress of the current task.

[0241] Alternatively, if Figure 6 As shown, the humanoid robot further includes: a memory 602 and a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus.

[0242] In a specific implementation process, the processor 601 executes the computer execution instructions stored in the memory 602, so that the processor 601 executes the above solution.

[0243] The specific implementation process of the processor 601 can be found in the above-mentioned system embodiment. Its implementation principle and technical effects are similar, and will not be repeated here in this embodiment.

[0244] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0245] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0246] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0247] Figure 7 A schematic diagram of a process flow of a factory environment operation method based on a humanoid robot provided in this application, such as Figure 7 As shown, the factory environment operation method based on the humanoid robot provided in this embodiment includes:

[0248] S701, monitoring the equipment operation status and material information in the factory environment, determining the health index of each equipment according to the equipment operation status, generating a three-dimensional material distribution heat map according to the material information, and performing task allocation according to the health index of each equipment, the three-dimensional material distribution heat map, the task information of at least one task to be performed, and the information of each humanoid robot, obtaining a humanoid robot corresponding to each task to be performed, and sending a corresponding task instruction to each humanoid robot corresponding to each task to be performed;

[0249] S702. Control the humanoid robot to determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction. If the current position is not in the task execution area corresponding to the task instruction, control the humanoid robot to move to the task execution area and perform the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, control the humanoid robot to perform the operation corresponding to the task instruction.

[0250] S703, control the humanoid robot to parse the task instruction to obtain the first information corresponding to the task to be executed, the first information including at least one of the following: task type, task priority, task execution area, operations to be performed, resource requirements, and standard requirements for task completion; based on the first information, determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction; based on the first information, execute the operation corresponding to the task instruction.

[0251] The factory environment operation method based on a humanoid robot provided in this embodiment is used to implement the solutions provided by the above-mentioned system and humanoid robot embodiments. Its implementation principles and technical effects are similar, and are not described in detail in this embodiment.

[0252] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0253] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0254] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0255] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0256] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0257] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0258] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0259] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0260] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0261] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A factory environment operation system based on a humanoid robot, characterized in that: include: at least one humanoid robot, a task scheduling device; The task scheduling device is used to monitor the equipment operation status and material information in the factory environment, determine the health index of each device according to the equipment operation status, generate a three-dimensional material distribution heat map according to the material information, and perform task allocation according to the health index of each device, the three-dimensional material distribution heat map, the task information of at least one task to be performed, and the information of each humanoid robot, obtain the humanoid robot corresponding to each task to be performed, and send the corresponding task instructions to each humanoid robot corresponding to each task to be performed; The humanoid robot is used to determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device, and if the current position is not in the task execution area corresponding to the task instruction, move to the task execution area and perform the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, perform the operation corresponding to the task instruction; The humanoid robot is specifically used to: parse the task instruction to obtain first information corresponding to the task to be executed, the first information including at least one of the following: task type, task priority, task execution area, operations to be performed, resource requirements, and standard requirements for task completion; based on the first information, determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction; based on the first information, execute the operation corresponding to the task instruction.

2. The system according to claim 1, characterized in that The humanoid robot is also used for: During the task execution process, first feedback information is sent to the task scheduling device, wherein the first feedback information includes at least one of the following: task progress, task stage, and estimated completion time; After the task is completed, determining whether the operation corresponding to the task instruction has been completed according to the standard requirements for completing the task; If it is determined that the operation corresponding to the task instruction has been completed according to the standard requirements for completing the task, second feedback information is sent to the task scheduling device, and the second feedback information includes at least one of the following: indication information of task completion, the start time of task execution, the end time of task execution, the time node of execution of key steps of the task, task status and abnormal information; The humanoid robot is also used for: If an exception occurs during the task execution, the operation corresponding to the task instruction is stopped, and third feedback information is sent to the task scheduling device. The third feedback information includes at least one of the following: the location and cause of the exception, and the progress of the current task.

3. The system according to claim 1 or 2, characterized in that: For any of the tasks to be executed, the task scheduling device is used to: According to the task information of the task to be performed and the information of each of the humanoid robots, at least one of the following operations is performed to obtain an operation result: determining whether each of the humanoid robots is in a standby mode; Determine whether the current power of each of the humanoid robots is greater than a target power value; the target power value is determined according to the power consumption value of the task to be performed and the current power of each of the humanoid robots; Determining whether the current position of each of the humanoid robots is within a preset range of the task execution area of ​​the task to be executed; Determining whether the workload of each of the humanoid robots meets the load requirement of the task to be performed; According to the operation results corresponding to each of the humanoid robots, the humanoid robot corresponding to the task to be performed is determined, and the task instruction is sent to the humanoid robot corresponding to the task to be performed.

4. The system according to claim 1 or 2, characterized in that: The task scheduling device comprises: Task scheduling module, robot status monitoring module, first charging management module and task exception handling module; The task scheduling module is used to assign a corresponding humanoid robot to each of the tasks to be executed according to the task information of each of the tasks to be executed and the information of each of the humanoid robots, and send the corresponding task instructions to the humanoid robots corresponding to each of the tasks to be executed, wherein the task information of the tasks to be executed includes at least one of the following: task priority, task duration, operation corresponding to the task, resource requirements and standard requirements for task completion; the information of the humanoid robot includes at least one of the following: current position, current state and capability information, and the capability information includes at least one of the following: workload and remaining power; The robot status monitoring module is used to monitor the status of the humanoid robot performing a task according to the feedback information sent by the humanoid robot; The first charging management module is used to perform charging scheduling management on each of the humanoid robots; The task exception processing module is used to perform fault analysis according to the third feedback information sent by the humanoid robot, obtain the fault analysis result, and perform emergency processing according to the fault analysis result; The task scheduling module is also used to adjust the task allocation results or task scheduling strategies according to the second information related to each of the tasks to be executed; the second information includes at least one of the following: production line change information, task priority, task progress, task duration, the workload of the humanoid robot, the power of the humanoid robot, and the task completion time of the humanoid robot.

5. The system according to claim 4, characterized in that The task scheduling device further includes: An environment monitoring module, a data acquisition and analysis module, and a task monitoring and display module respectively connected to the task scheduling module; The environment monitoring module is used to monitor the equipment operation status and / or material information in the factory environment, wherein the material information includes at least one of the following: material storage information, material distribution information and material consumption information; The task scheduling device is specifically used to: determine the humanoid robot scheduling information according to the task information of at least one task to be executed and the information of each of the humanoid robots; According to the material three-dimensional distribution heat map and the equipment operation status, the material movement cost is dynamically calculated, wherein the material three-dimensional distribution heat map includes the material storage location, material feeding location, material preset unit distance weight, material delivery priority, material movement distance, preset changeover operation penalty coefficient and preset changeover penalty value of each material; According to the equipment health index and the dynamically calculated material movement cost, the humanoid robot scheduling information is assigned tasks to obtain humanoid robots corresponding to the tasks to be performed; The data collection and analysis module is used to collect feedback information from each of the humanoid robots, perform fault prediction based on the feedback information from each of the humanoid robots, and send the fault prediction result to the task scheduling module; The task monitoring display module is used to display a task monitoring interface, and the task monitoring interface is used to display the process of each humanoid robot performing a task and / or the factory environment scene.

6. The system according to claim 4, characterized in that The robot status monitoring module is also used for: When an abnormality occurs to the humanoid robot or an abnormality occurs to the task progress, an instruction message is sent to the task scheduling module to instruct to reallocate the task to be performed by the humanoid robot; The first charging management module is specifically used to: Determining the charging time and charging position of each of the humanoid robots according to the third information; Controlling each of the humanoid robots to charge according to the charging time and charging position of each of the humanoid robots; The third information includes at least one of the following: task priority, task progress, estimated task completion time, remaining power of the robot, and charging station location.

7. The system according to claim 1 or 2, characterized in that: The system further comprises: Charging and battery life device; The charging and battery life device comprises: a second charging management module; the second charging management module is used to charge the humanoid robot, record charging data, and feed back the charging data to the task scheduling device; the charging data comprises at least one of the following: charging time, voltage, current, and charging power; The second charging management module is further used for: After the humanoid robot is fully charged, the power source connected to the humanoid robot is disconnected, and information indicating that charging is completed is fed back to the task scheduling device.

8. The system according to claim 7, characterized in that The charging and battery life device also includes: a fire detection module and a battery protection module connected to the second charging management module; Wherein, the fire detection module is used to detect the environmental state of the charging area, and if the environmental state is detected to be abnormal, an alarm message is output; The battery protection module is used to perform at least one of the following functions: overcharge protection, over-discharge protection, short circuit protection and overheat protection.

9. A humanoid robot, applied to a factory environment operation system based on a humanoid robot as claimed in any one of claims 1 to 8, characterized in that: The humanoid robot comprises: A robot body, and a processor disposed in the robot body; Among them, the processor is used to determine whether the current position of the robot body of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction issued by the task scheduling device; if the current position is not in the task execution area corresponding to the task instruction, it moves to the task execution area and performs the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, it performs the operation corresponding to the task instruction; the task scheduling device is used to assign tasks according to the task information of at least one task to be executed and the information of at least one humanoid robot, obtain the humanoid robots corresponding to each of the tasks to be executed, and send the corresponding task instructions to each of the humanoid robots corresponding to the tasks to be executed.

10. A factory environment operation method based on a humanoid robot, characterized in that: Applied to the system according to any one of claims 1 to 8, the method comprises: Monitor the equipment operation status and material information in the factory environment to determine the health index of each equipment according to the equipment operation status, generate a three-dimensional material distribution heat map according to the material information, and perform task allocation according to the health index of each equipment, the three-dimensional material distribution heat map, the task information of at least one task to be performed, and the information of each humanoid robot, obtain the humanoid robot corresponding to each task to be performed, and send the corresponding task instructions to each humanoid robot corresponding to each task to be performed; Control the humanoid robot to determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction according to the task instruction; if the current position is not in the task execution area corresponding to the task instruction, control the humanoid robot to move to the task execution area and perform the operation corresponding to the task instruction; if the current position is in the task execution area corresponding to the task instruction, control the humanoid robot to perform the operation corresponding to the task instruction; Control the humanoid robot to parse the task instruction to obtain first information corresponding to the task to be executed, wherein the first information includes at least one of the following: task type, task priority, task execution area, operations to be performed, resource requirements, and standard requirements for task completion; based on the first information, determine whether the current position of the humanoid robot is in the task execution area corresponding to the task instruction; based on the first information, execute the operation corresponding to the task instruction.

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