Robot workflow generation methods, terminal devices, and readable storage media

Abstract

This application discloses a method for generating a robot's workflow, a terminal device, and a readable storage medium, relating to the field of robotics. The method includes: obtaining a list of robot tasks, the list including task parameters for each task; generating a list of process components based on the task parameters, the list including process components corresponding to each task; obtaining process orchestration information generated by a process orchestration interface based on the list of process components, and determining process logic information and target process components based on the process orchestration information; generating a workflow diagram based on the process logic information and target process components; obtaining a workflow instance corresponding to the workflow diagram, and generating robot allocation information based on the workflow instance; updating the workflow diagram based on the robot allocation information to obtain the target workflow diagram. This application aims to solve the problems of low efficiency and high development difficulty in robot workflow orchestration.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a method for generating a robot's workflow, a terminal device, and a readable storage medium. Background Technology

[0002] A robot is a device that can move automatically without human intervention. Today, most robots are capable of handling materials. In robot handling scenarios, robots typically perform a series of actions in a specific sequence. Related technologies generally require researchers to use computer programming languages ​​to specifically develop programs for different workflows, arranging the processes so that the robot can execute actions in the programmed order.

[0003] However, if the workflow arrangement order needs to be adjusted or the developed program cannot run due to coding errors, it is generally necessary to rewrite the code and develop the program, resulting in low workflow arrangement efficiency, a large amount of redundant code, and high development difficulty. Summary of the Invention

[0004] This application provides a method for generating robot workflows, a terminal device, and a computer-readable storage medium, which solves the problems of low workflow orchestration efficiency, large amount of redundant code, and high development difficulty of robots.

[0005] In a first aspect, this application provides a method for generating a robot's workflow, the method comprising:

[0006] Obtain the robot's task list, which includes task parameters for each task.

[0007] Based on the task parameters of each work task, a process component list is generated, which includes the process components corresponding to each work task.

[0008] Obtain process orchestration information generated by the process orchestration interface based on the process component list, and determine process logic information and target process components based on the process orchestration information;

[0009] A workflow diagram is generated based on the process logic information and the target process components;

[0010] Obtain the workflow process instance corresponding to the workflow diagram, and generate robot allocation information based on the workflow process instance;

[0011] The workflow diagram is updated based on the robot allocation information to obtain a target workflow diagram, so that the robot can work based on the target workflow diagram.

[0012] Secondly, this application provides a terminal device, which includes a memory and a processor;

[0013] The memory is used to store computer programs;

[0014] The processor is configured to execute the computer program and, in executing the computer program, implement the robot workflow generation method as described above.

[0015] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the robot workflow generation method as described above.

[0016] The robot workflow generation method, terminal device, and readable storage medium provided in this application embodiment obtain a robot task list, including task parameters for each task; generate a process component list based on the task parameters, including process components corresponding to each task; obtain process orchestration information generated by a process orchestration interface based on the process component list; determine process logic information and target process components based on the process orchestration information; generate a workflow diagram based on the process logic information and target process components; obtain a workflow process instance corresponding to the workflow diagram; generate robot allocation information based on the workflow process instance; update the workflow diagram based on the robot allocation information to obtain the target workflow diagram, enabling the robot to work based on the target workflow diagram. This improves the efficiency of robot workflow orchestration, reduces redundant code, helps developers reduce code coupling, improves code readability, and enables workflow orchestration through component orchestration, resulting in lower development difficulty and making it suitable for all robot handling scenarios. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the application environment for a robot workflow generation method provided in an embodiment of this application;

[0019] Figure 2 This is a schematic flowchart illustrating the steps of a robot workflow generation method provided in an embodiment of this application;

[0020] Figure 3This is a schematic block diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0023] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0024] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0025] In the field of robotics, there are many handling scenarios. However, for robots, all handling scenarios involve executing a series of actions in sequence. For these scenarios, we can use code to program the robot's workflow in these handling scenarios. However, since the workflow of robot handling scenarios is slightly different in different scenarios, there may be some redundant or incorrect workflows. In this case, developers generally need to redesign a set of code to meet the robot's workflow in the corresponding scenario. This leads to problems such as low efficiency in robot workflow programming, a large amount of redundant code, and high development difficulty.

[0026] For example, a workflow might require first controlling a robot's speaker to play voice prompts, then controlling the device to turn on indicator lights, and finally controlling the device to start moving. This workflow requires developers to use computer programming languages ​​to implement, and generally, when another device of the same type requires the same program, it needs to be redeveloped.

[0027] Meanwhile, the related technologies also have the following defects and shortcomings:

[0028] 1. Currently, most widely used workflow engines are approval-based, which are too cumbersome for robot handling scenarios, and robot automated handling does not require approval.

[0029] 2. Apart from approval workflows, other lightweight workflow engines cannot persist runtime data.

[0030] 3. Lacks breakpoint debugging features, such as skipping the current node, jumping to a specified node to start execution, and re-execution.

[0031] The robot workflow generation method, terminal device, and readable storage medium provided in this application can improve the efficiency of robot workflow orchestration, reduce redundant code, help developers reduce code coupling, improve code readability, and achieve workflow orchestration through component orchestration. This reduces development difficulty and makes the workflow development process more suitable for all robot handling scenarios.

[0032] This method can be applied to servers or terminal devices, including fixed terminals such as mobile phones, tablets, and personal digital assistants (PDAs). The server can be a single server or a server cluster. However, for ease of understanding, the following embodiments will describe in detail a workflow generation method for robots applied to servers.

[0033] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0034] like Figure 1 As shown, the robot workflow generation method provided in this application embodiment can be applied to, for example... Figure 1The application environment shown contains a robot 110 and a server 120. The robot 110 can communicate with the server 120 via a network. Specifically, the server 120 obtains the task list of the robot 110, which includes task parameters for each task; generates a process component list based on the task parameters, which includes the process components corresponding to each task; obtains process orchestration information generated by the process orchestration interface based on the process component list; determines process logic information and target process components based on the process orchestration information; generates a workflow diagram based on the process logic information and target process components; obtains a workflow instance corresponding to the workflow diagram; generates robot allocation information based on the workflow instance; and updates the workflow diagram based on the robot allocation information to obtain the target workflow diagram, enabling the robot 110 to work based on the target workflow diagram. The server 120 can be a standalone server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. Robot 110 can be an industrial robot capable of handling materials, such as an Automated Guided Vehicle (AGV), and is not specifically limited herein. Robot 110 and server 120 can be connected directly or indirectly via wired or wireless communication, and this application does not impose any restrictions on this.

[0035] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a robot workflow generation method provided in this application embodiment. This robot workflow generation method can improve the efficiency of robot workflow orchestration, reduce redundant code, help developers reduce code coupling, improve code readability, and achieve workflow orchestration through component orchestration. It has lower development difficulty and is applicable to all robot handling scenarios.

[0036] like Figure 2 As shown, the workflow generation method of the robot includes steps S101 to S106.

[0037] S101. Obtain the robot's task list, which includes the task parameters for each task.

[0038] The task list includes all tasks the robot can perform and their corresponding task parameters. Tasks can include robot material picking, robot material placement, robot movement, robot cycle tasks, and robot voice prompt tasks. Task parameters can include voice content, device IP address, port number, indicator light on / off status, and device start / stop parameters.

[0039] For example, all of the robot's work tasks and their corresponding task parameters can be obtained first, and the above information can be integrated to form a list of the robot's work tasks.

[0040] For example, if robot A has a handling function and a voice prompt function, then the work tasks of robot A include at least robot picking task, robot placing task, robot moving task, robot cyclic task and robot voice prompt task.

[0041] For example, if robot B has a handling function and a lighting prompt function, then the work tasks of robot A include at least the robot picking task, the robot placing task, the robot moving task, the robot cyclic task, and the robot lighting prompt task.

[0042] S102. Generate a process component list based on the task parameters of each task. The process component list includes the process components corresponding to each task.

[0043] The process component list can include a list of various types of process components, and the process component list includes the process components corresponding to each work task.

[0044] In some embodiments, the task type corresponding to the work task is determined based on task parameters, and the process code corresponding to the work task of the task type is obtained; based on the task parameters, task type, and corresponding process code, process components corresponding to the work task are generated, and the process components are integrated to obtain a process component list. Thus, process components corresponding to a work task can be accurately generated using the work task and its corresponding task parameters.

[0045] The task types can include movement task types, operation task types, and prompt task types. Movement task types include tasks requiring robot movement, such as robot movement tasks. Operation task types include tasks requiring robot manipulation, such as robot material handling tasks and robot material placement tasks. Prompt task types include tasks requiring robot prompts, such as robot voice prompts and robot lighting prompts. The corresponding process code for each task type can be a generic code for the work tasks within that type.

[0046] For example, the task type corresponding to the work task can be determined to be a mobile task type based on the task parameters, and the process code corresponding to the mobile task type can be obtained; based on the task parameters, the mobile task type and its corresponding process code, the process component corresponding to the work task can be generated.

[0047] For example, the task type corresponding to the work task can be determined as the operation task type based on the task parameters, and the process code corresponding to the operation task type can be obtained; based on the task parameters, the operation task type and its corresponding process code, the process component corresponding to the work task can be generated.

[0048] In some embodiments, the robot's working mode and work content are determined based on task parameters; the task type corresponding to the work task is determined based on the robot's working mode and work content. This allows for accurate determination of the task type corresponding to the work task.

[0049] The robot's working methods can include moving using wheels, picking up and placing materials using a manipulator arm, and providing illumination using indicator lights. The robot's tasks can include moving from position A to position B, picking up and placing materials at position A, and providing illumination at position B.

[0050] For example, by parsing the task parameters, it can be determined that the robot's working mode is to move using wheels, and the work content is to move from position point A to position point B. In this case, the task type corresponding to the work task can be determined to be a movement task type.

[0051] For example, by parsing the task parameters, it can be determined that the robot's working mode is to use the manipulator to pick up and put down materials, and the work content is to put down materials at position point A. At this time, the task type corresponding to this work task can be determined to be the operation task type.

[0052] For example, if the robot's working mode is determined to be the mode of using indicator lights, but the work content is to pick up materials at location point A, then the robot's working mode and work content do not correspond. Therefore, it is necessary to redetermine the task parameters in order to redetermine the robot's working mode and work content.

[0053] In some embodiments, the process code corresponding to the task is updated according to the task parameters and task type to obtain the target process code; the target process code is injected into a preset application framework to generate the process component corresponding to the task.

[0054] The target process code can be the process code corresponding to this task, specifically obtained by updating the general code corresponding to this task type. The default application framework can be the Spring application framework.

[0055] For example, the variables of the process code corresponding to the task can be updated according to the task parameters and task type to obtain the target process code. The target process code is written into a Java file, and then the parameters required for the target process code to run and the parameters output after the target process code runs are defined. Finally, the target process code program is injected into the Spring application framework through an interface. Then, the corresponding process component can be generated in the process orchestration interface, and the process component can be dragged and dropped by the user.

[0056] In some embodiments, task parameters are parsed to determine their parameter types; based on the matching relationship between task types and parameter types, target task parameters are determined from the task parameters according to the task type; the process code corresponding to the task is updated according to the target task parameters to obtain the target process code. Thus, the target process code can be accurately generated based on the parameter types.

[0057] The parameter types can include string, numeric, and boolean types. The task type-parameter type matching relationship indicates the association between a task type and certain parameter types. If the task type is a movement task, it is associated with numeric parameter types; if the task type is a prompt task, it is associated with boolean parameter types. The target task parameters represent the task parameters associated with this task.

[0058] For example, if the task parameter is voice content, the corresponding parameter type can be a string; if the task parameter is a device IP address, the corresponding parameter type can be a string; if the task parameter is a port number, the corresponding parameter type can be a numeric type; if the task parameter is an indicator light on / off, the corresponding parameter type can be a boolean type; if the task parameter is a device start / stop, the corresponding parameter type can be a boolean type.

[0059] For example, if the parameter type of the task parameter is determined to include Boolean type and numeric type; if the task type of the work task is a prompt task type, then the target task parameter can be determined to be the task parameter corresponding to the Boolean type; the process code corresponding to the work task is updated according to the task parameter corresponding to the Boolean type, thereby obtaining the target process code.

[0060] S103. Obtain the process orchestration information generated by the process orchestration interface based on the process component list, and determine the process logic information and target process components based on the process orchestration information.

[0061] The workflow orchestration interface is where users can orchestrate workflow components. Workflow orchestration information is the information generated after orchestrating workflow components. Workflow logic information is used to represent the execution order, conditions, and other information of the workflow components after orchestration. Target work components are the workflow components that users use and configure in the workflow orchestration interface, and target work tasks are the work tasks corresponding to the target work components.

[0062] For example, the workflow orchestration interface can include information such as a list of workflow components, a canvas, forms, and global variables. Users can select and drag workflow components on the workflow orchestration interface, and can also define workflow components, such as defining the start and end points of moving workflow components, and defining the material picking location, material type, etc. of material picking workflow components.

[0063] For example, after a user drags and drops process components from the process component list in the process orchestration interface and defines them, corresponding process orchestration information will be generated. The process orchestration information will then be parsed to obtain process logic information and target process components.

[0064] In some embodiments, process orchestration information is parsed to obtain task information and workflow components. Task information includes task number, task parameters, material number to be grabbed, and task movement path. Process logic information is generated based on the material number to be grabbed and the task movement path. The workflow components are then configured with parameters based on the task number and task parameters to obtain the target process component. This allows for accurate generation of process logic information and configuration of the target process component.

[0065] The task information includes task number, task parameters, material number to be grabbed, and task movement path. Workflow components can be the workflow components selected by the user in the workflow orchestration interface. The task number corresponds to the number of the work tasks included in the workflow; the task parameters are the information corresponding to the work tasks included in the workflow, such as the start and end points of each work task; the material number to be grabbed is the number of the material to be grabbed included in this workflow; and the task movement path is the overall movement path of the workflow.

[0066] For example, the process orchestration information is parsed to obtain task information and workflow components. The task information includes task number, task parameters, material number to be picked up, and task movement path. The workflow components may include robot movement components, robot picking components, and robot unloading components. The process logic information corresponding to the workflow is generated based on the material number to be picked up and the task movement path. Based on the task number and task parameters, the parameters of the robot movement components, robot picking components, and robot unloading components are configured to obtain their respective target workflow components.

[0067] This application embodiment can extract a robot's voice prompt task into a process component and a robot's lighting prompt task into a process component. Then, it defines the parameters that need to be passed to the components, such as: voice content (string type), device IP address (string type), port number (numeric type), indicator light on / off (boolean type), and device operation start / stop (boolean type). Users can then drag and connect these components in sequence on the process orchestration interface. If a similar workflow needs to be developed in the future, these process components can be directly used for orchestration without needing to redevelop a new set of code. If the workflow needs to be rearranged, for example, turning on the indicator light first and then broadcasting the voice, under related technologies, a new set of code needs to be developed to achieve this function because the execution order of each function is fixed by the code, resulting in a strong dependency between the order of each function. However, the robot workflow generation method provided in this application embodiment can achieve the above function simply by dragging and changing the order of the process components.

[0068] This can achieve the following effects:

[0069] 1. Decoupling (each process component can be executed independently, regardless of the execution order of the code, and can be achieved through process orchestration).

[0070] 2. Reduce the difficulty of process development (because the process is generated by dragging and dropping through the process arrangement interface, even users who are not familiar with computer programming can arrange the process).

[0071] 3. Reduce code duplication (simply drag and drop lines in different orders in the workflow orchestration interface to achieve different workflows. Compared to the past, where changing the execution order of each function required rewriting the program code, this reduces a large amount of duplicate code).

[0072] 4. Improve code readability: Since the execution order of each workflow can be viewed on the workflow orchestration interface, developers can intuitively see the execution order of the workflow. If the execution order of some workflow components does not match the developer's expectations, it can be quickly discovered. Otherwise, developers can only find such problems by reading the code.

[0073] S104. Generate a workflow diagram based on the process logic information and target process components.

[0074] Among them, workflow diagrams can be used to represent the robot's workflow.

[0075] For example, the process logic information can be parsed to obtain information such as the process execution order, process execution conditions, and process execution count. Based on the above process logic information, the target process components can be sorted and corresponding execution conditions can be set to generate a workflow diagram.

[0076] S105. Obtain the workflow process instance corresponding to the workflow diagram, and generate robot allocation information based on the workflow process instance.

[0077] The workflow process instance, generated from the workflow diagram, represents the robots assigned to different workflows, i.e., different work tasks. Robot assignment information indicates the robots assigned to each workflow within the workflow process instance.

[0078] In some embodiments, the number of robots and the material to be picked up corresponding to the workflow are determined based on the workflow process instance; the location information of each robot in the work scene is obtained, and a backup robot is determined from each robot based on the location information; if the number of backup robots is greater than the number of robots, the corresponding robot is allocated to the workflow process instance based on the material to be picked up, so as to generate robot allocation information.

[0079] The work scenarios can include indoor, outdoor, and elevator scenarios, and different work scenarios may affect the allocation of robots.

[0080] For example, if the number of robots corresponding to the workflow is determined to be 4 and the material to be grasped is a wooden board based on the workflow process instance, the position information of each robot in the indoor scene is obtained, and a robot within a preset range is selected as a backup robot. If the number of backup robots is greater than 4, a robot suitable for grasping the wooden board is selected from the backup robots as the robot to be assigned, thereby generating robot allocation information.

[0081] For example, robots can be selected as assigned robots based on their gripping characteristics, such as selecting robots with specific gripper types, or based on their battery level, such as selecting robots with a battery level greater than a preset battery threshold, or based on their working status, such as selecting robots in an idle state.

[0082] S106. Update the workflow diagram according to the robot allocation information to obtain the target workflow diagram, so that the robot can work based on the target workflow diagram.

[0083] The target workflow diagram is the workflow diagram with updated robot assignment information.

[0084] Specifically, the workflow diagram can be updated based on the robot allocation information. The robot allocation information corresponding to each workflow is configured to obtain the target workflow diagram, so that the robot can work according to the workflow in the target workflow diagram.

[0085] In some embodiments, the execution time of each process component in the target workflow diagram is obtained; if the execution time is greater than a first time threshold or less than a second time threshold, the target process component is regenerated based on the process orchestration information. This allows for the analysis of whether the robot's actions in performing the task are correct based on the execution time, and for an accurate analysis of the time efficiency of the entire process.

[0086] The process execution time can be the duration for the robot to execute the corresponding work task of the process component. The first time threshold and the second time threshold can be any duration, with the first time threshold being greater than the second time threshold. For example, it can be 10 minutes, 20 minutes, etc., without specific limitations.

[0087] For example, if the process execution time is greater than the first time threshold or less than the second time threshold, it indicates that the robot's actions in performing the task may be incorrect, or the robot's execution time for the task may not meet expectations. Therefore, it is necessary to regenerate the target process components based on the process orchestration information.

[0088] The robot workflow generation method provided in this application involves: acquiring a robot task list, including task parameters for each task; generating a process component list based on the task parameters, including process components corresponding to each task; acquiring process orchestration information generated by a process orchestration interface based on the process component list; determining process logic information and target process components based on the process orchestration information; generating a workflow diagram based on the process logic information and target process components; acquiring a workflow instance corresponding to the workflow diagram; generating robot allocation information based on the workflow instance; and updating the workflow diagram based on the robot allocation information to obtain the target workflow diagram, enabling the robot to work based on the target workflow diagram. This improves the efficiency of robot workflow orchestration, reduces redundant code, helps developers reduce code coupling, improves code readability, and enables workflow orchestration through component orchestration, resulting in lower development difficulty and making it suitable for all robot handling scenarios.

[0089] Please see Figure 3 , Figure 3 This is a schematic block diagram of the structure of a terminal device provided in an embodiment of the present invention.

[0090] like Figure 3As shown, the terminal device 200 may include a processor 201 and a memory 202, which are connected via a bus 203, such as an I2C (Inter-integrated Circuit) bus.

[0091] In one exemplary embodiment, processor 201 can be used to provide computing and control capabilities to support the operation of the entire terminal device. Processor 201 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0092] Specifically, the memory 202 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0093] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the embodiments of the present invention, and does not constitute a limitation on the terminal device to which the embodiments of the present invention are applied. A specific server may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0094] The processor 201 is used to run a computer program stored in a memory, and when executing the computer program, implements any of the robot workflow generation methods provided in the embodiments of the present invention.

[0095] In one embodiment, the processor 201 is configured to run a computer program stored in a memory, and when executing the computer program, perform the following steps: obtaining a list of tasks for the robot, the list including task parameters for each task; generating a list of process components based on the task parameters for each task, the list including process components corresponding to each task; obtaining process arrangement information generated by a process arrangement interface based on the list of process components, and determining process logic information and target process components based on the process arrangement information; generating a workflow diagram based on the process logic information and the target process components; obtaining a workflow instance corresponding to the workflow diagram, and generating robot allocation information based on the workflow instance; updating the workflow diagram based on the robot allocation information to obtain a target workflow diagram, so that the robot works based on the target workflow diagram.

[0096] In one embodiment, when the processor 201 generates a list of process components based on the task parameters of each of the work tasks, it is configured to: determine the task type corresponding to the work task based on the task parameters, and obtain the process code corresponding to the work task of the task type; generate the process components corresponding to the work task based on the task parameters, the task type and its corresponding process code, and integrate the process components to obtain a list of process components.

[0097] In one embodiment, when the processor 201 implements the step of determining the task type corresponding to the work task based on the task parameters, it is configured to: determine the working mode and work content of the robot based on the task parameters; and determine the task type corresponding to the work task based on the working mode and work content of the robot.

[0098] In one embodiment, when the processor 201 generates a process component corresponding to the work task based on the task parameters, task type and its corresponding process code, and integrates the process components to obtain a process component list, it is configured to: update the process code corresponding to the work task based on the task parameters and task type of the work task to obtain target process code; inject the target process code into a preset application framework to generate the process component corresponding to the work task.

[0099] In one embodiment, when the processor 201 updates the process code corresponding to the work task according to the task parameters and task type of the work task to obtain the target process code, it is configured to: parse the task parameters to determine the parameter type of the task parameters; determine the target task parameters from the task parameters based on the matching relationship between the task type and the parameter type; and update the process code corresponding to the work task according to the target task parameters to obtain the target process code.

[0100] In one embodiment, when the processor 201 implements the step of determining the process logic information and target process component based on the process orchestration information, it is configured to: parse the process orchestration information to obtain task information and workflow component, wherein the task information includes task number, task parameters, material number to be grabbed, and task movement path; generate process logic information based on the material number to be grabbed and the task movement path; and configure the parameters of the workflow component based on the task number and task parameters to obtain the target process component.

[0101] In one embodiment, when generating robot allocation information based on the workflow process instance, the processor 201 is configured to: determine the number of robots and the material to be grasped corresponding to the workflow based on the workflow process instance; obtain the position information of each robot in the work scene, and determine a backup robot from each robot based on the position information; if the number of backup robots is greater than the number of robots, then allocate a corresponding robot to the workflow process instance based on the material to be grasped, so as to generate robot allocation information.

[0102] In one embodiment, the processor 201 is further configured to: obtain the process execution time of each process component in the target workflow diagram; if the process execution time is greater than a first time threshold or the process execution time is less than a second time threshold, then regenerate the target process component according to the process orchestration information.

[0103] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the terminal device described above can be referred to the corresponding process in the foregoing embodiments, and will not be repeated here.

[0104] The embodiments of this application also provide a computer-readable storage medium storing a computer program, which includes program instructions. A processor executes the program instructions to implement any of the workflow generation methods for the detection robot provided in the embodiments of this application.

[0105] For example, when the program is loaded by the processor, it can perform the following steps:

[0106] Obtain the robot's task list, which includes task parameters for each task; generate a process component list based on the task parameters, which includes process components corresponding to each task; obtain process arrangement information generated by the process arrangement interface based on the process component list, and determine process logic information and target process components based on the process arrangement information; generate a workflow diagram based on the process logic information and the target process components; obtain a workflow instance corresponding to the workflow diagram, and generate robot allocation information based on the workflow instance; update the workflow diagram based on the robot allocation information to obtain a target workflow diagram, so that the robot can work based on the target workflow diagram.

[0107] The computer-readable storage medium can be an internal storage unit of the terminal device described in the foregoing embodiments, such as a hard disk or memory of the terminal device. Alternatively, the computer-readable storage medium can be an external storage device of the terminal device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD card), flash card, etc., provided on the terminal device.

[0108] Furthermore, a computer-readable storage medium may primarily include a program storage area and a data storage area, wherein the program storage area may store the operating system, programs required for at least one function, etc.; and the data storage area may store data created according to each program, etc.

[0109] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for generating a robot's workflow, characterized in that, The method includes: Obtain the robot's task list, which includes task parameters for each task. Based on the task parameters of each work task, a process component list is generated, which includes the process components corresponding to each work task. Obtain process orchestration information generated by the process orchestration interface based on the process component list, and determine process logic information and target process components based on the process orchestration information; A workflow diagram is generated based on the process logic information and the target process components; Obtain the workflow process instance corresponding to the workflow diagram, and generate robot allocation information based on the workflow process instance; The workflow diagram is updated according to the robot allocation information to obtain a target workflow diagram, so that the robot can work based on the target workflow diagram. The step of generating a list of process components based on the task parameters of each of the work tasks includes: The task type corresponding to the work task is determined based on the task parameters, and the process code corresponding to the work task of the task type is obtained; The task parameters are parsed to determine their parameter types; Based on the matching relationship between the task type and the parameter type, the target task parameter is determined from the task parameters according to the task type; The process code corresponding to the work task is updated according to the target task parameters to obtain the target process code; The target process code is injected into a preset application framework to generate the process component corresponding to the work task.

2. The method according to claim 1, characterized in that, Determining the task type corresponding to the work task based on the task parameters includes: The robot's working mode and work content are determined based on the task parameters; The task type corresponding to the work task is determined based on the robot's working method and work content.

3. The method according to claim 1, characterized in that, The step of determining the process logic information and target process components based on the process orchestration information includes: The process arrangement information is parsed to obtain task information and workflow components. The task information includes task number, task parameters, material number to be grabbed, and task movement path. Generate process logic information based on the material number to be captured and the task movement path; Based on the task number and task parameters, the parameters of the workflow component are configured to obtain the target workflow component.

4. The method according to claim 1, characterized in that, The step of generating robot allocation information based on the workflow instance includes: The number of robots and the materials to be picked up are determined based on the workflow instance. Obtain the location information of each robot in the work scene, and determine the backup robot from among the robots based on the location information; If the number of backup robots is greater than the number of robots, then a corresponding robot is assigned to the workflow instance according to the material to be grabbed, so as to generate robot allocation information.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the execution time of each process component in the target workflow diagram; If the execution time of the process is greater than the first time threshold or less than the second time threshold, the target process component is regenerated based on the process orchestration information.

6. A terminal device, characterized in that, The terminal device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the robot workflow generation method as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the robot workflow generation method as described in any one of claims 1 to 5.

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