Scheduling method and device of self-moving equipment, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a scheduling method and device of self-moving equipment, electronic equipment and a storage medium. The scheduling method comprises the steps that a task instruction is received, path planning is conducted on a target self-moving device based on a starting point and an ending point indicated by the task instruction, a to-be-sent path formed by a path fragment sequence is obtained, and the path fragment sequence comprises multiple path fragments and time window information corresponding to the path fragments; control sub-paths are successively sent to the target self-moving device from the starting point of the to-be-sent path, the control sub-paths comprise more than one path segments, the sent control sub-paths are deleted from the to-be-sent path, and the control sub-paths are used for indicating the target self-moving device to move; wherein if it is detected that the path fragments in the current to-be-sent path are blocked in the corresponding time window, path planning is carried out on the target self-moving device again based on the starting point and the ending point of the current to-be-sent path, and the current to-be-sent path is updated by utilizing a path fragment sequence obtained through planning.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a scheduling method, apparatus, device and storage medium for a self-moving device. Background Art

[0002] Systems that use autonomous devices such as AGV (automated guided vehicle) have the advantages of being highly unmanned, automated, and intelligent, which improves production efficiency and operational levels in industries such as warehousing, manufacturing, and logistics. In order to ensure that autonomous devices are used efficiently, it is necessary to reasonably schedule tasks for autonomous devices, and path planning is a very important part of this.

[0003] Traditional dispatching methods for self-driving equipment usually rely on pre-drawn fixed routes. On the one hand, this method requires manual design of fixed routes for each mobile device according to different road network conditions, which has high labor costs; on the other hand, it has poor flexibility and cannot adapt to complex and changing environments. Summary of the invention

[0004] In view of this, the present application provides a scheduling method, device, electronic device and storage medium for a self-mobile device, so as to reduce labor costs and improve flexibility.

[0005] This application provides the following solutions:

[0006] In a first aspect, a scheduling method for a self-mobile device is provided, the method comprising:

[0007] Receiving a task instruction, and performing path planning for a target self-mobile device based on a starting point and an end point indicated by the task instruction to obtain a path to be sent consisting of a path segment sequence, wherein the path segment sequence includes a plurality of path segments and time window information corresponding to each path segment;

[0008] Starting from the starting point of the path to be sent, successively sending control sub-paths to the target self-mobile device, the control sub-paths including more than one path segment, and deleting the sent control sub-paths from the path to be sent, the control sub-paths being used to instruct the target self-mobile device to move;

[0009] If it is detected that a path segment in the current path to be sent is blocked in the corresponding time window, the path of the target mobile device is replanned based on the starting point and end point of the current path to be sent, and the current path to be sent is updated using the path segment sequence obtained by planning.

[0010] Optionally, before planning a path for the target self-moving device based on the starting point and the end point indicated by the task instruction, the method further includes:

[0011] Determine the available self-moving device closest to the starting point indicated by the task instruction as the target self-moving device. Optionally, before planning the path of the target self-moving device based on the starting point and the end point indicated by the task instruction, it also includes: loading a work map containing a work area, the work map is composed of a plurality of path segments connected, and the work map also includes the location information of stationary obstacles;

[0012] The process of path planning is performed based on the working map.

[0013] Optionally, the task instruction is a storage location identification task instruction, and the destination is a target storage location;

[0014] The method also includes: in response to the target self-mobile device moving to the target storage location according to the control sub-paths sent successively, obtaining the position and posture of the target storage location from the scanning result of the target self-mobile device on the target storage location to update the work map.

[0015] Optionally, the task instruction is a cargo pick-up and release task instruction, and the destination is a target storage location;

[0016] The processing of executing the path planning based on the work map includes: executing the path planning processing based on the work map including the position of the target storage location to instruct the target to move from the mobile device to the target storage location to perform the picking and placing task.

[0017] Optionally, loading a work map including a work area includes:

[0018] Loading a road network map including a work area and obtaining environmental data of the work area;

[0019] Marking stationary obstacles on the road network map according to the environmental data of the working area;

[0020] The road network map marked with stationary obstacles is grid-divided to obtain the working map.

[0021] Optionally, acquiring the environmental data of the working area includes:

[0022] Summarize at least one of the obstacle scanning results, device abnormality messages, and storage location scanning results reported by each mobile device;

[0023] The environmental data of the working area is obtained by using the summarized results.

[0024] Optionally, the performing path planning for the target mobile device includes:

[0025] Generate a sequence of path segments from the starting point to the end point using a path search algorithm;

[0026] If the current path segment sequence and the paths to be sent from other mobile devices have conflicting path segments at the same time, a waiting time is set before the conflicting path segments in the current path segment sequence and the time window information corresponding to each path segment is updated;

[0027] Until there are no conflicting path segments between the current path segment sequence and the paths to be sent from other mobile devices at the same time, the current path segment sequence is used as the path segment sequence obtained by the path planning.

[0028] Optionally, sending control sub-paths to the target mobile device one by one includes:

[0029] Sending a control sub-path to the target mobile device at a preset time interval; or,

[0030] If the distance between the current position of the target self-mobile device and the starting point of the current path to be sent is less than or equal to a preset threshold, the control sub-path is sent to the target self-mobile device.

[0031] Optionally, the length of the control subpath is determined according to the moving speed and / or communication speed of the target self-mobile device;

[0032] The length of the control sub-path is positively correlated with the moving speed, and the length of the control sub-path is negatively correlated with the communication speed.

[0033] Optionally, the method further comprises:

[0034] If device abnormality information is received from other mobile devices or the environmental data of the working area changes, it is detected whether there is a path segment in the current path to be sent that is blocked in the corresponding time window.

[0035] In a second aspect, a scheduling device for a mobile device is provided, the scheduling device comprising:

[0036] A task receiving unit, configured to receive a task instruction;

[0037] A path planning unit is configured to plan a path for the target mobile device based on the starting point and the end point indicated by the task instruction to obtain a path to be sent consisting of a path segment sequence, wherein the path segment sequence includes a plurality of path segments and time window information corresponding to each path segment;

[0038] a path sending unit, configured to send control sub-paths to the target self-mobile device one by one from the starting point of the path to be sent, the control sub-paths including more than one path segments, and delete the sent control sub-paths from the path to be sent, the control sub-paths being used to instruct the target self-mobile device to move;

[0039] A dynamic detection unit, configured to trigger the path planning unit if it is detected that a path segment in the current to-be-sent path is blocked in a corresponding time window;

[0040] The path planning unit is further configured to re-plan the path of the target mobile device based on the starting point and end point of the current path to be sent in response to the triggering of the dynamic detection unit, and update the current path to be sent using the planned path segment sequence.

[0041] In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

[0042] In a fourth aspect, an electronic device is provided, including:

[0043] one or more processors; and

[0044] A memory associated with the one or more processors, the memory being used to store program instructions, wherein the program instructions, when read and executed by the one or more processors, execute the steps of the method described in any one of the first aspects above.

[0045] In a fifth aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0046] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0047] 1) This application no longer uses the traditional method based on a pre-designed fixed path to schedule the target self-mobile device, but instead uses a "dynamic" path planning method: after the target self-mobile device is path-planned based on the starting point and end point indicated by the task instruction to obtain the path to be sent, a segmented sending method is used to send control sub-paths to the target self-mobile device one by one and the sent control sub-paths are deleted from the path to be sent; if it is detected that there is a path segment in the current path to be sent that is blocked in the corresponding time window, the current path to be sent is re-path-planned. This "dynamic" path planning method, on the one hand, does not require manual participation, greatly reducing labor costs; on the other hand, through the segmented path sending method and the re-planning method of the path to be sent based on blocking detection, the "future" path of the target self-mobile device can be dynamically adjusted when the working environment changes, which is more flexible and better adapted to complex and changing environments.

[0048] 2) In this application, the available self-moving device closest to the starting point indicated by the task instruction is used as the target self-moving device. This method can minimize the distance moved by the self-moving device, reduce time consumption, and improve task scheduling efficiency.

[0049] 3) In this application, a working map including the location information of stationary obstacles is loaded, thereby providing a basis for "dynamic" path planning, avoiding the long waiting time of the target self-mobile device due to the inability to move due to stationary obstacles during the movement process, and improving the success rate and efficiency of task execution.

[0050] 4) In this application, the dynamic path planning method of this application can be used in the storage location identification task, so that after the target self-mobile device scans the target storage location and obtains the position and posture of the target storage location, the work map is updated. And in the process of the target self-mobile device performing the pick-up and release task, the updated work map containing the scanned position and posture of the target storage location can be used to perform dynamic path planning for the target self-mobile device again. This implementation method can use storage location scanning and dynamic path planning methods in scenarios where the position and posture of the target storage location may change and the path cannot be planned in advance, thereby ensuring that the target self-mobile device successfully reaches the target storage location and performs the pick-up and release tasks.

[0051] 5) In the process of loading the work map in this application, in addition to loading the road network map containing the work area, the dynamic impact of the environmental data of the work area on the road network map is further considered to generate a raster map used for path planning. This method can further improve the adaptability to the working environment and improve the success rate and efficiency of task execution.

[0052] 6) In the present application, by summarizing at least one of the obstacle scanning results, equipment abnormality messages and storage location scanning results reported by each mobile device during the task execution, the environmental data of the working area is obtained, so that the "dynamic" path planning of the target self-moving device can fully consider the impact of unpredictable conditions such as abnormalities of other self-moving devices and special circumstances of the storage location on the target self-moving device, thereby avoiding the target self-moving device from waiting for a long time due to being unable to move due to these unpredictable conditions, thereby further improving the success rate and efficiency of task execution.

[0053] 7) In the process of path planning, after using the path search algorithm to generate a path segment sequence from the starting point to the end point, the present application performs conflict detection based on the current path segment sequence and the paths to be sent by other self-mobile devices, and updates the time window information corresponding to each path segment according to the result of the conflict detection, thereby avoiding the risk of collision between the target self-mobile device and other self-mobile devices, thereby improving the safety of scheduling and the success rate of task execution.

[0054] 8) In the present application, a control sub-path of a specific length can be sent to the target mobile device at preset intervals or according to the location of the target mobile device, so that the target mobile device can receive the control sub-path sent by the server in segments at the appropriate time. The server can also flexibly adjust the path to be sent that has not yet been sent to the target mobile device based on this mechanism.

[0055] 9) In the present application, the length of the control sub-path to be sent is determined according to the moving speed and / or communication speed of the target self-mobile device to ensure that the target self-mobile device has a control sub-path of sufficient length as a basis for movement before receiving the next control sub-path, thereby avoiding the target self-mobile device from waiting due to failure to receive the control sub-path in time, thereby improving the task execution efficiency.

[0056] 10) The present application can trigger obstruction detection of the path to be sent when receiving abnormal device information from other self-moving devices or changes in environmental data in the working area, thereby timely re-planning the path to be sent of the target self-moving device, reducing the probability of collision between the target self-moving device and obstacles such as other self-moving devices, and improving safety and task execution efficiency.

[0057] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 is a system architecture diagram applicable to the embodiments of the present application;

[0060] Figure 2 A flow chart of a scheduling method for a self-mobile device provided in an embodiment of the present application;

[0061] Figure 3 A flowchart of a preferred scheduling method provided in an embodiment of the present application;

[0062] Figure 4 A flow chart of a method for processing a work map provided in an embodiment of the present application;

[0063] Figure 5 A schematic block diagram of a scheduling device provided in an embodiment of the present application;

[0064] Figure 6 A schematic block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0066] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0067] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0068] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0069] As mentioned in the background technology, the traditional dispatching method of self-moving equipment relies on a fixed path drawn in advance. This method requires manual customized design based on the road network map, which has high labor costs, poor flexibility, and cannot adapt to complex and changing environments. In addition, fixed paths are equivalent to pre-allocation and pre-occupation of space-time resources to a certain extent, and the efficiency of task scheduling needs to be improved.

[0070] In view of this, the present application provides a new idea. In order to facilitate the understanding of the present application, the system architecture on which the present application is based is first described. Figure 1 An exemplary system architecture to which the embodiments of the present application can be applied is shown. Figure 1 As shown in , the system architecture may include: a mobile device and a scheduling device set on the server side.

[0071] Among them, the self-moving device refers to a tool equipped with an electromagnetic or optical automatic guidance device, controlled by a computer, with its own power or power conversion device and capable of automatically moving along a specified path. In the embodiment of the present application, the self-moving device can move and undertake certain tasks, such as transportation, picking up, unloading, etc. For example, the automatic moving device can be an AGV (Automated Guided Vehicle), a logistics robot, etc.

[0072] The scheduling device set in the server segment can provide scheduling services for the self-mobile device in the manner provided in the embodiment of the present application, including: after receiving the task instruction, performing path planning for the self-mobile device to obtain the path to be sent, and sending the path to be sent to the self-mobile device in a "segmented" manner. For details, please refer to the relevant records in the subsequent embodiments.

[0073] The above-mentioned scheduling device can be set on an independent server, a server group, or a cloud server. A cloud server, also known as a cloud computing server or cloud host, is a host product in a cloud computing service system to solve the defects of difficult management and weak service scalability in traditional physical hosts and virtual private servers (VPS) services. In addition, the above-mentioned scheduling device can also be set on a computer terminal with strong computing power.

[0074] It should be understood that Figure 1 The number of self-moving devices and scheduling devices in the figure is only illustrative. According to the implementation requirements, there can be any number of self-moving devices and scheduling devices.

[0075] Figure 2 A flowchart of a scheduling method for a self-equipped device provided in an embodiment of the present application. The method can be performed by Figure 1 The scheduling device in the system shown is executed. Figure 2 As shown in , the method may include the following steps:

[0076] Step 201: Receive a task instruction.

[0077] The task instructions received by the scheduling device on the server side may come from the user side, for example, the user inputs the task information through the client, browser or applet, triggering the client, browser or applet to send the task instructions to the server side. It may also come from other service devices on the server side, for example, the upstream device of the scheduling device generates task information for the mobile device, carries the task information in the task instruction and sends it to the scheduling device.

[0078] In the embodiment of the present application, the task instruction includes at least the information of the starting point and the ending point, which are used to indicate the starting position and the ending position of the task. The mobile device needs to move from the starting position to the ending position to perform the corresponding work.

[0079] In addition to the information of the starting point and the end point, the task instruction may also include other information, such as the task start time, the task type, the information of the target self-mobile device, etc. Among them, the task start time is used to indicate the time when the self-mobile device starts to execute the task. The task type is used to indicate the type of work task performed by the self-mobile device. For example, in the fields of warehousing and manufacturing, it may include tasks such as storage location scanning tasks, picking and releasing tasks, transportation tasks, sorting tasks, etc. The task instructions of these task types can all trigger the execution of the scheduling method provided in the present application, and the scheduling target self-mobile device moves according to the path sent to the target self-mobile device, and performs the corresponding storage location scanning, picking and releasing, transportation, and sorting tasks.

[0080] Step 203: Plan a path for the target mobile device based on the starting point and the end point indicated by the task instruction to obtain a path to be sent consisting of a path segment sequence, wherein the path segment sequence includes multiple path segments and time window information corresponding to each path segment.

[0081] In the embodiment of the present application, a pre-designed fixed path is no longer used, but a path planning is performed in real time for the target self-mobile device. The path segment sequence obtained by planning is composed of path segments and time window information corresponding to each path segment. Since the path planning result needs to be sent to the target self-mobile device, it is called the path to be sent in the embodiment of the present application.

[0082] In the embodiments of the present application, a path segment refers to a smaller part or unit that constitutes a path. A road segment in a road network can be used as a path segment, or a unit that is smaller or larger than a road segment can be used as a path segment. A road segment refers to a traffic route between two adjacent nodes in a road network (a node may include an intersection, a specific traffic sign, a specific building, etc.), which is a part of a road and is usually used to describe the specific location and range of a road.

[0083] The planned path segment sequence is composed of multiple path segments connected end to end. The starting point of the first path segment is the starting point of this path planning, and the end point of the last path segment is the end point of this path planning. Each path segment corresponds to time window information. The so-called time window is the time information indicating the movement of the target self-mobile device in the corresponding path segment, which is usually represented by a time interval, namely the time window. It can be understood that the target self-mobile device passes through the path segment in the time interval corresponding to the time window.

[0084] In this step, as one of the feasible methods, the starting point and end point indicated by the task instruction can be used as the starting point and end point of this path planning, and the path search algorithm can be used to plan the path of the target mobile device to generate a path segment sequence from the starting point to the end point, and the path segment sequence can be used as the path to be sent.

[0085] As another better implementation method, the starting point and the end point indicated by the task instruction can be used as the starting point and the end point of this path planning. After the path search algorithm is used to plan the path of the target self-mobile device and generate a path segment sequence from the starting point to the end point, the path segment sequence is further optimized based on conflict detection, and the optimized path segment sequence is used as the path to be sent. The specific optimization method will be described in detail in the subsequent embodiments.

[0086] Step 205: Starting from the starting point of the path to be sent, control sub-paths are sent to the target self-mobile device one by one, the control sub-paths include more than one path fragments, and the sent control sub-paths are deleted from the path to be sent, and the control sub-paths are used to instruct the target self-mobile device to move; wherein, if it is detected that a path fragment in the current path to be sent is blocked in the corresponding time window, the path of the target self-mobile device is re-planned based on the starting point and the end point of the current path to be sent, and the current path to be sent is updated using the path fragment sequence obtained by planning.

[0087] In the embodiment of the present application, the planned path, i.e., the path to be sent, is not sent to the target self-mobile device at once, but a segmented sending method is adopted to send a part of the sub-path to the target self-mobile device in sequence. In the embodiment of the present application, the part of the sub-path sent each time is called a control sub-path, and the control sub-path can be of a specific length. After each control sub-path is sent, the control sub-path is deleted from the path to be sent, so that the path to be sent always contains the part of the path that has not been sent to the target self-mobile device. The timing of sending the control sub-path will be described in detail in subsequent embodiments.

[0088] Although in the process of path planning in step 203, the path segment sequence can be optimized based on conflict detection, thereby reducing the probability of the target self-mobile device conflicting with the to-be-sent paths of other self-mobile devices. However, since the actual working environment of the self-mobile device may be constantly changing, for example, other self-mobile devices abnormally stop on a certain path segment planned for the target self-mobile device in the future, for example, a container truck used to load goods (usually parked in a warehouse) may block a certain path segment of the target self-mobile device in the future due to its large size or unfixed docking position. In view of this, the scheduling device on the server side will detect whether there is a path segment in the to-be-sent path that is blocked in the corresponding time window. If so, the path planning is re-performed for the to-be-sent path. It should be noted that the path planning here is only for the to-be-sent path, and the control sub-path that has been sent to the target self-mobile device for execution is not affected. The re-planning of the path for the to-be-sent path is essentially a re-planning of the path based on the starting point and end point of the current to-be-sent path, and the path planning method is the same as the path planning in step 203. The re-planned path segment sequence can avoid the influence of the detected obstruction, and the re-planned path segment will update the current to-be-sent path.

[0089] The updated path to be sent is continued to be sent to the target self-mobile device in segments, that is, a control sub-path of a specific length is sent each time. If an obstruction is detected again, the path is re-planned based on the current path to be sent, and the re-planned path segments are used to update the path to be sent. This is repeated until the path to be sent is empty, that is, all are sent to the target self-mobile device.

[0090] It can be seen that the present application no longer uses the traditional method based on a pre-designed fixed path to schedule the target self-mobile device, but adopts a "dynamic" path planning method: after the target self-mobile device is path-planned based on the starting point and end point indicated by the task instruction to obtain the path to be sent, a segmented sending method is used to send control sub-paths to the target self-mobile device one by one and the sent control sub-paths are deleted from the path to be sent; if it is detected that there is a path segment in the current path to be sent that is blocked in the corresponding time window, the current path to be sent is re-path-planned. This "dynamic" path planning method, on the one hand, does not require manual participation, which greatly reduces labor costs; on the other hand, through the segmented path sending method and the re-planning method of the path to be sent based on blocking detection, the "future" path of the target self-mobile device can be dynamically adjusted when the working environment changes, which is more flexible and better adapted to complex and changing environments.

[0091] The following describes in detail each step in the above process and the effects that can be further produced in conjunction with the embodiments. Figure 3 A flowchart of a preferred scheduling method provided in the embodiment of the present application. Figure 3 As shown in , the method may include the following steps:

[0092] Step 310: Receive task instructions.

[0093] In an embodiment of the present application, the scheduling device will receive task instructions of different task types according to different fields, different scenarios or stages. Taking the warehousing field as an example, there may be two stages to perform the storage location scanning task and the picking and placing tasks respectively. Among them, the storage location scanning task is mainly used to identify the real-time posture and status of the storage location, that is, to trigger the target self-mobile device to scan according to the planned path to the designated storage location. The storage location refers to the specific location or space for storing goods in the warehouse, which can be a designated shelf, container, room, container truck, etc. The picking and placing tasks are mainly used to take goods out of the storage location or place them in the storage location, that is, to trigger the target self-mobile device to pick up and place goods according to the planned path to the designated storage location.

[0094] The task instruction includes at least the information of the starting point and the end point, and may also include the task start time and the task type. This part is not described in detail. Optionally, the task instruction may also include the information of the target self-mobile device, for example, the user may specify the type and number of the target self-mobile device.

[0095] Step 320: Determine the target mobile device.

[0096] As one possible implementation, if the task instruction does not include information about the target self-moving device, then the available self-moving device closest to the starting point indicated by the task instruction can be determined as the target self-moving device. The so-called available self-moving device can be an idle self-moving device and / or a self-moving device that can complete the task type indicated by the task instruction.

[0097] As another achievable method, if the task instruction includes information of the target self-mobile device, the target self-mobile device can be determined based on the information of the target self-mobile device. For example, the self-mobile device corresponding to the number of the target self-mobile device included in the task instruction is determined as the target self-mobile device. For another example, among the types of target self-mobile devices included in the task instruction, the available self-mobile device closest to the starting point indicated by the task instruction is determined as the target self-mobile device.

[0098] Other methods may also be used to determine the target mobile device, which are not listed here one by one.

[0099] Step 330: Perform path planning for the target mobile device to obtain a path to be sent.

[0100] Before executing this step, you can first load the work map containing the work area ( Figure 3 (not shown in the figure). The working map is composed of multiple path segments connected for path planning. In addition, the working map also includes the location information of stationary obstacles, where stationary obstacles refer to obstacles in a stationary state, including walls, storage locations, static facilities, signboards, self-moving devices in a stationary state, etc. Self-moving devices in a stationary state include self-moving devices that have not been working for a long time, self-moving devices that have stopped at a certain position due to abnormal status, etc. In other words, the above working map can be a static map or a dynamic map. Taking a dynamic map as an example, the processing method of the working map can be as follows: Figure 4 As shown in , the following steps are included:

[0101] Step 401: Load a road network map including a work area.

[0102] The so-called road network map refers to a type of map that displays the road network and related information, usually including roads, intersections, bridges, tunnels and other transportation facilities in a specific area, as well as the connection relationships between these facilities.

[0103] Step 402: Obtain environmental data of the working area.

[0104] In the embodiment of the present application, the environmental data of the working area mainly includes information of stationary obstacles. As one of the achievable methods, the acquisition method may include: summarizing at least one of the obstacle scanning results, device abnormality messages, and storage location scanning results reported by each mobile device during the task execution process; and using the summarized results to obtain the environmental data of the working area.

[0105] Among them, the obstacle scanning results can be scanned and reported to the server by each mobile device using infrared sensors, laser sensors, radars, cameras, etc. during the task execution. The device abnormality message can be reported to the server when an abnormality occurs in the task execution process or when the mobile device is idle. The storage location scanning result can be reported to the server when the mobile device performs the storage location scanning task. After summarizing this information, the static obstacle information in the working area can be obtained, such as the type and location of the static obstacle.

[0106] It should be noted that the above steps 401 and 402 may be executed in any order or simultaneously, and this application does not impose any limitation on this.

[0107] Step 403: Mark the stationary obstacles on the road network map according to the environmental data of the working area.

[0108] Step 404: grid-dividing the road network map marked with static obstacles to obtain a working map.

[0109] In the embodiment of the present application, a grid map is used to represent the working map, and other representation methods may also be used. Grid division of the road network map is essentially to evenly divide the entire working area into a series of grids of uniform size, and each grid uses a different value to represent whether it is occupied or free. Occupancy indicates that there is an obstacle at that location.

[0110] The following may be further performed: Step 405: determining the grids where the starting point and the end point of this path planning are located on the working map.

[0111] Continue to see Figure 3 As one of the more preferred implementation methods, the path planning performed in this step may specifically include steps 331 to 333.

[0112] In step 331, a path search algorithm is used to generate a path segment sequence with the minimum cost from the starting point to the end point.

[0113] In the embodiments of the present application, a variety of path search algorithms can be used, such as the A-Star search algorithm, the DFS (Depth First Search) algorithm, etc. The cost considered by the path search algorithm may include at least one factor of distance, time consumption, cost, safety, etc. As the most commonly used one, a path segment sequence with the shortest distance from the starting point to the end point can be generated, and a path segment sequence with the least number of path segments from the starting point to the end point can also be generated. Then the path segment sequence can be further smoothed, and the path segments in the path segment sequence are connected from the beginning to the end in sequence to reach the end point.

[0114] The path segment sequence of the embodiment of the present application also includes the time window information corresponding to each path segment, and the time window information can be determined by factors such as the task start time and the moving speed of the target self-mobile device (the moving speed of the target self-mobile device can be determined according to the type, model, historical movement data, etc. of the target self-mobile device). Based on the task start time and the moving speed of the target self-mobile device, the time interval in which the target self-mobile device arrives at each path segment and moves in each path segment can be determined, and this time interval is the time window. For example, the path segment sequence includes:

[0115] Path segment a (13:00-13:05) - path segment b (13:05-13:15) - path segment c (13:15-13:21) - path segment d (13:21-13:28) - path segment e (13:28-13:35) - path segment f (13:35-13:42) - ...

[0116] The time interval in the brackets in the above sequence represents the time window corresponding to the path segment. Taking path segment b as an example, the time window indicates that the target self-mobile device moves in path segment b between 13:05 and 13:15.

[0117] In step 332 , a conflict detection is performed on the current path segment sequence. If a conflict is detected, step 333 is executed; otherwise, step 334 is executed.

[0118] The conflict detection performed in the embodiment of the present application refers to detecting whether there are conflicting path segments in the current path segment sequence and the paths to be sent by other automatic mobile devices at the same time. Specifically, the current path segment sequence is compared with the paths to be sent by other automatic mobile devices one by one according to the time window to determine whether there are conflicting path segments at the same time.

[0119] As one of the feasible methods, if the current path segment sequence has the same path segment corresponding to the same time in the to-be-sent paths of other self-mobile devices, it indicates that there is a risk of collision between the target self-mobile device and the other self-mobile devices, and therefore there is a conflict in the path segment.

[0120] As another achievable method, if the distance between two path segments corresponding to the same time in the current path segment sequence and the path to be sent by other self-mobile devices is not enough to accommodate the corresponding two self-mobile devices, it means that the target self-mobile device may collide with the other self-mobile devices, so the two path segments conflict. Wherein, when performing the detection, the safety distance corresponding to the two self-mobile devices (the target self-mobile device and the other self-mobile devices) can be determined according to the geometric dimensions of the two self-mobile devices; the distance between the current path segment sequence of the target self-mobile device and the path segment corresponding to the same time in the path to be sent by another self-mobile device is determined according to the safety distance, and the two path segments whose distance is less than the above safety distance conflict.

[0121] Continuing with the above example, assume that the time window corresponding to the path segment e in the current path segment is 13:28-13:35, and the time window corresponding to the path segment q in the to-be-sent path of the other self-mobile device A is 13:30-13:37, the path segment e and the path segment q overlap in time, and the distance between the path segment e and the path segment q is less than the safety distance corresponding to the target self-mobile device and the self-mobile device A, then it is determined that the path segment e and the path segment q conflict.

[0122] In step 333, the time window information in the path segment sequence is updated using the conflict detection result.

[0123] If a conflict is detected in a path segment in the current road segment, the target self-mobile device can be allowed to wait for a period of time before the path segment to avoid the collision. Therefore, in this step, a waiting time can be set before the conflicting path segment in the current path segment sequence and the time window corresponding to each path segment can be updated. The set waiting time can be a fixed duration or determined according to the time window information corresponding to the conflicting path segment.

[0124] Continuing with the above example, you can set a waiting time for path segment d before path segment e, for example, 10 minutes. In this way, the time window corresponding to path segment d is updated to 13:21-13:38, and the time window corresponding to path segment e is updated to 13:38-13:45. Subsequent path segments are updated similarly. In this way, path segment e can avoid path segment q in time, solving the conflict between the two.

[0125] After the update, the process can proceed to step 332 to perform conflict detection on the updated current path segment sequence until no conflict is detected. This planning method can ensure that there is no conflict in the to-be-sent paths of all the self-mobile devices at the same time.

[0126] In step 334, the path to be sent is updated using the current path segment sequence.

[0127] In this step, the current path segment sequence is used as the path segment sequence obtained by this path planning, and the path segment sequence obtained by this path planning is used to update the path to be sent.

[0128] It should be noted that if a path segment sequence that can resolve the above-mentioned conflict cannot be obtained, it can be considered that the planning has failed, the current scheduling is terminated, and the task corresponding to the current task instruction will not be executed.

[0129] Step 340: Starting from the starting point of the current path to be sent, control sub-paths are sent to the target mobile device one by one in sequence, and the sent control sub-paths are deleted from the path to be sent.

[0130] In the embodiment of the present application, the path to be sent is sent in segments, and a part of the sub-path is sent to the target self-mobile device in sequence from the starting point of the path to be sent. In the embodiment of the present application, the part of the sub-path sent each time is called a control sub-path. The control sub-path can be of a specific length to instruct the target self-mobile device to move according to the path segment contained in the control sub-path. After each control sub-path is sent, the control sub-path is deleted from the path to be sent, so that the path to be sent always contains the part of the path that has not been sent to the target self-mobile device.

[0131] When sending a control sub-path of a specific length to a target self-mobile device, as one achievable method, the control sub-path may be sent to the target self-mobile device at preset intervals, for example, once every 10 minutes.

[0132] As another achievable method, if the distance between the current position of the target self-mobile device and the starting point of the current path to be sent is less than or equal to a preset distance threshold, the control sub-path is sent to the target self-mobile device. For example, the starting point of the initial path to be sent is the task starting point L1, and after sending a control sub-path of a specific length to the target self-mobile device and deleting the control sub-path from the path to be sent, the starting point of the path to be sent is L2; ​​when the target self-mobile device moves to a position where the distance L2 is less than or equal to the distance threshold during the moving process, a control sub-path of a specific length is sent to the target self-mobile device and the control sub-path is deleted from the path to be sent, and the starting point of the path to be sent becomes L3; and so on, until the path to be sent is empty.

[0133] The length of the control subpath can be determined based on the moving speed and / or communication speed of the target self-mobile device. The specific length is positively correlated with the moving speed, and the specific length is negatively correlated with the communication speed. For example, if the moving speed of the target self-mobile device is very fast, the length of the control subpath can be set to be longer, so as to avoid the target self-mobile device from waiting and affecting efficiency. If the communication speed of the target self-mobile device is very slow, it means that there is a large delay in the target self-mobile device receiving the control subpath, and the length of the control subpath can be set to be longer, so as to avoid the target self-mobile device from waiting and affecting efficiency.

[0134] When executing this step, even if dynamic path planning occurs and the path to be sent is updated, the control sub-path is sent based on the latest obtained path to be sent.

[0135] Step 350: Check whether the path to be sent is empty. If so, end this scheduling task; otherwise, continue to execute the above step 340.

[0136] Step 360: Perform a blocking detection on the current path to be sent. If it is detected that a path segment in the current path to be sent is blocked in the corresponding time window, go to step 330 to re-plan the path to be sent.

[0137] The blocking detection is usually based on event triggering. As one of the implementable ways, the blocking detection on the current to-be-sent path may be performed periodically, that is, triggered by a timing event, for example, the blocking detection is performed at regular intervals.

[0138] However, since the path planning method adopted in the embodiment of the present application is based on conflict detection, it is not necessary to update the path to be sent under normal circumstances. However, for some unpredictable special circumstances, the "future" moving path of the target self-mobile device may be blocked. Therefore, as another more preferred method, when receiving device abnormality information from other self-mobile devices or changes in environmental data in the working area, it is possible to detect whether there is a path segment in the current path to be sent that is blocked in the corresponding time window.

[0139] For example, if an abnormality occurs during the movement of other self-moving devices and they stop on a certain path segment, if the path segment exists in the path to be sent by the target self-moving device, then the path segment is blocked in the corresponding time window. For another example, if the environmental data of the working area changes, a container truck stops on a certain path segment, or stops near a certain path segment, and the target self-moving device collides with the container truck on the path segment due to the geometric size limitation, then the path segment is blocked in the corresponding time window.

[0140] If it is detected that a path segment in the current path to be sent is blocked in the corresponding time window, the process returns to step 330 to perform path planning on the path to be sent. The re-planned path planning is performed based on the start point and end point of the current path to be sent.

[0141] It can be seen from the above process that in the process of scheduling the target self-mobile device in the embodiment of the present application, the path to be sent may change dynamically according to the actual environmental conditions. This method can avoid collisions due to obstructions on the "future" path segment of the target self-mobile device, and can also dynamically adjust the path to be sent to avoid long waiting times for the self-mobile device, thereby improving task execution efficiency.

[0142] It should also be further explained that, due to various reasons, the position of the target storage location may change when the target self-mobile device is performing the task of picking up and placing goods. For example, in the scenario of picking up and placing goods in a container truck, the internal space and the docking position of the container truck are not fixed, and a fixed path cannot be planned in advance. The original fixed path planning method is not suitable for this scenario. The scheduling method provided in the embodiment of the present application can be applied to solve this problem. As mentioned in the previous embodiment, the above-mentioned scheduling method provided in the embodiment of the present application can be used in two task stages, specifically including:

[0143] First, it is used in the storage location identification task. In this task, the destination carried in the above task instruction is the target storage location. The target self-mobile device moves to the target storage location according to the control sub-path sent successively in the above scheduling method, and can scan the target storage location and upload the scanning results to the server. The server can obtain the position and posture of the target storage location based on the scanning results to update the work map.

[0144] It is then used in the process of picking and releasing goods. In this task, the end point carried in the above task instruction is still the target warehouse location. The server side can perform path planning processing based on the updated work map (including the position of the target warehouse location) to send control sub-paths one by one to instruct the target to move from the mobile device to the target warehouse location to perform the picking and releasing task.

[0145] It can be seen that by using the dynamic path planning method of the present application in the storage location identification task, the target self-mobile device can scan the target storage location to obtain the position and posture of the target storage location, and then update the work map. And in the process of the target self-mobile device performing the pick-up and release task, the updated work map, which contains the scanned position and posture of the target storage location, can be used to perform dynamic path planning for the target self-mobile device again. This implementation method can use storage location scanning and dynamic path planning methods in scenarios where the position and posture of the target storage location may change and the path cannot be planned in advance, thereby ensuring that the target self-mobile device successfully reaches the target storage location and performs the pick-up and release tasks.

[0146] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0147] Figure 5 1 shows a schematic block diagram of a scheduling device according to an embodiment, which may be an application on the server side, or a plug-in or software development kit (SDK) or other functional unit provided in the application. Figure 5 As shown, the device 500 includes: a task receiving unit 501, a path planning unit 502, a path issuing unit 503 and a dynamic detection unit 504, and may further include a device selection unit 505 and a map processing unit 506. The main functions of each component unit are as follows:

[0148] The task receiving unit 501 is configured to receive a task instruction.

[0149] The path planning unit 502 is configured to plan a path for the target mobile device based on the starting point and the end point indicated by the task instruction, and obtain a path to be sent consisting of a path segment sequence, wherein the path segment sequence includes multiple path segments and time window information corresponding to each path segment.

[0150] The path sending unit 503 is configured to send control sub-paths to the target self-mobile device one by one from the starting point of the path to be sent, the control sub-paths including more than one path fragments, and delete the sent control sub-paths from the path to be sent, the control sub-paths are used to instruct the target self-mobile device to move.

[0151] The dynamic detection unit 504 is configured to trigger the path planning unit 502 if it is detected that a path segment in the current to-be-sent path is blocked in the corresponding time window.

[0152] The path planning unit 502 is further configured to re-plan the path of the target mobile device based on the starting point and the end point of the current path to be sent in response to the triggering of the dynamic detection unit 504, and update the current path to be sent using the planned path segment sequence.

[0153] Furthermore, the device selection unit 505 is configured to determine an available self-moving device that is closest to the starting point indicated by the task instruction as the target self-moving device.

[0154] Furthermore, the map processing unit 506 is configured to load a working map including a working area, the working map being composed of a plurality of path segments connected together, and the working map also including location information of stationary obstacles. Accordingly, the path planning unit 502 performs path planning processing based on the working map.

[0155] As one of the feasible ways, the above-mentioned task instruction is a storage location identification task instruction, and the above-mentioned end point is the target storage location; the map processing unit 506 can be further configured to: in response to the target self-mobile device moving to the target storage location according to the control sub-paths sent successively, obtain the position and posture of the target storage location from the scanning result of the target self-mobile device on the target storage location to update the work map.

[0156] As another achievable method, the above-mentioned task instruction is a pick-up and release task instruction, and the above-mentioned end point is the target storage location; the path planning unit 502 can be specifically configured to: based on a work map including the position of the target storage location, perform path planning processing to instruct the target to move from the mobile device to the target storage location to perform the pick-up and release task.

[0157] As one of the feasible ways, the map processing unit 506 can be specifically configured to: load a road network map including a working area and obtain environmental data of the working area; mark stationary obstacles on the road network map according to the environmental data of the working area; and grid-divide the road network map marked with stationary obstacles to obtain a working map.

[0158] As one of the feasible ways, the map processing unit 506 can be specifically configured to: summarize at least one of the obstacle scanning results, equipment abnormality messages and storage location scanning results reported by each mobile device during the task execution; and use the summarized results to obtain the environmental data of the working area.

[0159] As one of the achievable methods, the path planning unit 502 can be specifically configured as follows: using a path search algorithm to generate a path segment sequence from the starting point to the end point; if the current path segment sequence has conflicting path segments with other paths to be sent from the mobile device at the same time, then a waiting time is set before the conflicting path segments in the current path segment sequence and the time window information corresponding to each path segment is updated; until the current path segment sequence has no conflicting path segments with other paths to be sent from the mobile device at the same time, the current path segment sequence is used as the path segment sequence obtained by path planning.

[0160] As one of the achievable ways, when the path sending unit 503 sends the control sub-paths to the target mobile device one by one, it can be specifically configured as follows:

[0161] Sending a control sub-path to the target mobile device at a preset time interval; or,

[0162] If the distance between the current position of the target self-mobile device and the starting point of the current path to be sent is less than or equal to a preset distance threshold, the control sub-path is sent to the target self-mobile device.

[0163] As one of the achievable methods, the length of the control subpath is determined according to the moving speed and / or communication speed of the target self-mobile device; wherein the length of the control subpath is positively correlated with the moving speed, and the length of the control subpath is negatively correlated with the communication speed.

[0164] As one of the achievable methods, the dynamic detection unit 504 may be configured to detect whether there is a path segment in the current path to be sent that is blocked in the corresponding time window if device abnormality information is received from other mobile devices or environmental data of the working area changes.

[0165] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The system and device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0166] In addition, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods in the aforementioned method embodiments are implemented.

[0167] And an electronic device, comprising:

[0168] one or more processors; and

[0169] A memory associated with the one or more processors, the memory being used to store program instructions, wherein the program instructions, when read and executed by the one or more processors, execute the steps of the method described in any one of the aforementioned method embodiments.

[0170] The present application also provides a computer program product, including a computer program, which implements the steps of any one of the methods in the aforementioned method embodiments when executed by a processor.

[0171] in, Figure 6 The architecture of the electronic device is shown as an example, which may include a processor 610, a video display adapter 611, a disk drive 612, an input / output interface 613, a network interface 614, and a memory 620. The processor 610, the video display adapter 611, the disk drive 612, the input / output interface 613, the network interface 614, and the memory 620 may be communicatively connected via a communication bus 630.

[0172] Among them, the processor 610 can be implemented by a general-purpose CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., to execute relevant programs to implement the technical solutions provided in this application.

[0173] The memory 620 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 620 can store an operating system 621 for controlling the operation of the electronic device 600, and a basic input and output system (BIOS) 622 for controlling the low-level operation of the electronic device 600. In addition, a web browser 623, a data storage management system 624, and a scheduling device 625, etc. can also be stored. The above-mentioned scheduling device 625 can be an application program that specifically implements the operations of the aforementioned steps in the embodiment of the present application. In short, when the technical solution provided by the present application is implemented by software or firmware, the relevant program code is stored in the memory 620 and is called and executed by the processor 610.

[0174] The input / output interface 613 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0175] The network interface 614 is used to connect to a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0176] The bus 630 comprises a pathway for transmitting information between the various components of the device (eg, the processor 610, the video display adapter 611, the disk drive 612, the input / output interface 613, the network interface 614, and the memory 620).

[0177] It should be noted that, although the above device only shows a processor 610, a video display adapter 611, a disk drive 612, an input / output interface 613, a network interface 614, a memory 620, a bus 630, etc., in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include components necessary for implementing the solution of the present application, and does not necessarily include all the components shown in the figure.

[0178] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a computer program product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0179] The technical solution provided by the present application is described in detail above. The principle and implementation method of the present application are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A method for scheduling a self-moving device, characterized in that: The method comprises: Receiving a task instruction, and performing path planning for a target self-mobile device based on a starting point and an end point indicated by the task instruction to obtain a path to be sent consisting of a path segment sequence, wherein the path segment sequence includes a plurality of path segments and time window information corresponding to each path segment; Starting from the starting point of the path to be sent, control sub-paths are sent to the target self-mobile device one by one, the control sub-paths including more than one path segments, and the sent control sub-paths are deleted from the path to be sent, the control sub-paths are used to instruct the target self-mobile device to move; If it is detected that a path segment in the current path to be sent is blocked in the corresponding time window, the path of the target mobile device is replanned based on the starting point and end point of the current path to be sent, and the current path to be sent is updated using the path segment sequence obtained by planning.

2. The scheduling method according to claim 1, characterized in that: Before planning a path for the target self-moving device based on the starting point and the end point indicated by the task instruction, the method further includes: An available self-moving device closest to the starting point indicated by the task instruction is determined as the target self-moving device.

3. The scheduling method according to claim 1, characterized in that: Before planning a path for the target self-moving device based on the starting point and the end point indicated by the task instruction, the method further includes: loading a work map including a work area, the work map being composed of a plurality of path segments connected together, and the work map also including location information of stationary obstacles; The process of path planning is performed based on the working map.

4. The scheduling method according to claim 3, characterized in that: The task instruction is a storage location identification task instruction, and the destination is a target storage location; The method also includes: in response to the target self-mobile device moving to the target storage location according to the control sub-paths sent successively, obtaining the position and posture of the target storage location from the scanning result of the target self-mobile device on the target storage location to update the work map.

5. The scheduling method according to claim 3, characterized in that: The task instruction is a cargo pick-up and release task instruction, and the destination is a target storage location; The processing of executing the path planning based on the work map includes: executing the path planning processing based on the work map including the position of the target storage location to instruct the target to move from the mobile device to the target storage location to perform the picking and placing task.

6. The scheduling method according to claim 3, characterized in that: The loading of the working map including the working area comprises: Loading a road network map including a work area and obtaining environmental data of the work area; Marking stationary obstacles on the road network map according to the environmental data of the working area; The road network map marked with stationary obstacles is grid-divided to obtain the working map.

7. The scheduling method according to claim 6, characterized in that: Acquiring the environmental data of the working area includes: Summarize at least one of the obstacle scanning results, device abnormality messages, and storage location scanning results reported by each mobile device; The environmental data of the working area is obtained by using the summarized results.

8. The scheduling method according to any one of claims 1 to 7, characterized in that: The path planning for the target mobile device includes: Generate a sequence of path segments from the starting point to the end point using a path search algorithm; If the current path segment sequence and the paths to be sent from other mobile devices have conflicting path segments at the same time, a waiting time is set before the conflicting path segments in the current path segment sequence and the time window information corresponding to each path segment is updated; Until there are no conflicting path segments between the current path segment sequence and the paths to be sent from other mobile devices at the same time, the current path segment sequence is used as the path segment sequence obtained by the path planning.

9. The scheduling method according to any one of claims 1 to 7, characterized in that: The step of sending control sub-paths to the target mobile device one by one includes: Sending a control sub-path to the target mobile device at a preset time interval; or, If the distance between the current position of the target self-mobile device and the starting point of the current path to be sent is less than or equal to a preset threshold, the control sub-path is sent to the target self-mobile device.

10. The scheduling method according to any one of claims 1 to 7, characterized in that: The length of the control subpath is determined according to the moving speed and / or communication speed of the target self-mobile device; The length of the control sub-path is positively correlated with the moving speed, and the length of the control sub-path is negatively correlated with the communication speed.

11. The scheduling method according to any one of claims 1 to 7, characterized in that: The method further comprises: If device abnormality information is received from other mobile devices or the environmental data of the working area changes, it is detected whether there is a path segment in the current path to be sent that is blocked in the corresponding time window.

12. A dispatching device for a self-moving device, characterized in that: The scheduling device comprises: A task receiving unit, configured to receive a task instruction; A path planning unit is configured to plan a path for the target mobile device based on the starting point and the end point indicated by the task instruction to obtain a path to be sent consisting of a path segment sequence, wherein the path segment sequence includes a plurality of path segments and time window information corresponding to each path segment; a path sending unit, configured to send control sub-paths to the target self-mobile device one by one from the starting point of the path to be sent, the control sub-paths including more than one path segments, and delete the sent control sub-paths from the path to be sent, the control sub-paths being used to instruct the target self-mobile device to move; A dynamic detection unit, configured to trigger the path planning unit if it is detected that a path segment in the current to-be-sent path is blocked in a corresponding time window; The path planning unit is further configured to re-plan the path of the target mobile device based on the starting point and end point of the current path to be sent in response to the triggering of the dynamic detection unit, and update the current path to be sent using the planned path segment sequence.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

14. An electronic device, characterized in that: include: one or more processors; as well as A memory associated with the one or more processors, the memory being used to store program instructions, wherein the program instructions, when read and executed by the one or more processors, execute the steps of the method described in any one of claims 1 to 11.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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