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

Abstract

The invention discloses a self-moving device scheduling method and device, a medium and a self-moving device, and the method comprises the steps: responding to a command for controlling a target self-moving device to move to a designated station, and detecting whether there is a standby self-moving device on a target path; the target path is a path through which the target self-moving equipment moves from the current position to the specified station; if the standby self-moving device exists on the target path, path planning is carried out on the standby self-moving device on the target path, so that the standby self-moving device is moved to an idle station except the designated station; and after the standby self-moving equipment moves to the idle station, controlling the target self-moving equipment to move to the specified station. According to the method and the device, the standby self-moving equipment on the target path can be emptied firstly, so that the target self-moving equipment is controlled to directly move to the specified station without being blocked, the self-moving equipment is prevented from being frequently blocked, the working efficiency of the self-moving equipment can be improved, and the unlocking time of the self-moving equipment is shortened.

Description

Technical Field

[0001] The present invention belongs to the technical field of self-moving equipment, and in particular, relates to a scheduling method, device, medium and self-moving equipment for self-moving equipment. Background Art

[0002] With the continuous advancement of computer technology and artificial intelligence technology, self-moving equipment has been widely used in various work scenarios. The relevant technology is to first plan the path of the self-moving equipment, and then control the self-moving equipment to drive according to the planned path. During the driving process, if there is a blockage, it will be processed through the traffic control module; when a deadlock is found, the unlocking algorithm will be called to unlock; however, this unlocking method has a long response time, and the possibility of the self-moving equipment being blocked will also be higher.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present invention is to provide a scheduling method, device, medium and self-moving device for a self-moving device, so as to solve the technical problem in the related art that the self-moving device is unlocked slowly when it is blocked.

[0005] According to one aspect of an embodiment of the present application, the present application provides a scheduling method for a mobile device, including:

[0006] In response to a command to control a target self-moving device to move to a designated station, detecting whether there is a standby self-moving device on a target path; the target path is a path that the target self-moving device moves from a current position to the designated station;

[0007] If there is a standby self-mobile device on the target path, path planning is performed on the standby self-mobile device on the target path to move the standby self-mobile device to an idle station other than the designated station;

[0008] When the standby mobile device moves to an idle platform, the control target moves from the mobile device to a designated platform.

[0009] According to an embodiment provided by the present application, path planning is performed on a standby self-mobile device on a target path to move the standby self-mobile device to an idle platform outside a designated platform, including: performing path planning on the standby self-mobile device on the target path according to currently existing idle platforms; detecting whether the path planning of the standby self-mobile device is successful, where successful path planning means that the standby self-mobile device can move to a path at an idle platform outside the designated platform according to the planned path; if the path planning of the standby self-mobile device is successful, moving the standby self-mobile device to an idle platform outside the designated platform according to the planned path.

[0010] According to an embodiment provided by the present application, after detecting whether the path planning of the standby self-mobile device is successful, the method also includes: if the path planning of the standby self-mobile device fails, determining other self-mobile devices that hinder the standby self-mobile device; after performing path planning on the other self-mobile devices, continuing to perform path planning on the standby self-mobile device to move the standby self-mobile device to an idle platform outside the designated platform.

[0011] According to an embodiment provided by the present application, after performing path planning on other self-mobile devices, continuing to perform path planning on the standby self-mobile devices includes: first recording the target self-mobile device in a stack, and then recording the standby self-mobile device that failed in path planning in the stack; wherein the stack follows a first-in-last-out rule; after the path planning of other self-mobile devices is successful, obtaining the standby self-mobile device from the stack for path planning.

[0012] According to an embodiment provided by the present application, after the path planning of other self-mobile devices is successful, after the standby self-mobile devices are obtained from the stack for path planning, the method also includes: detecting whether the number of self-mobile devices recorded in the stack is 1, and whether the self-mobile devices recorded in the stack are target self-mobile devices; if the number of self-mobile devices recorded in the stack is 1, and the self-mobile devices recorded in the stack are target self-mobile devices, determining that the standby self-mobile devices on the target path move to an idle platform.

[0013] According to an embodiment provided by the present application, after the path planning of other self-mobile devices is successful, before obtaining the standby self-mobile devices from the stack for path planning, the method also includes: if the path planning of other self-mobile devices fails, determining whether there are remaining self-mobile devices on the target path; if there are no remaining self-mobile devices, clearing the stack first, and then performing path planning for other self-mobile devices; if there are remaining self-mobile devices, using the other self-mobile devices as standby self-mobile devices, using the remaining self-mobile devices as other self-mobile devices, and returning to the step of recording the standby self-mobile devices for which the path planning failed in the stack.

[0014] According to an embodiment provided by the present application, after clearing the stack and then performing path planning for other self-mobile devices, the method further includes: if the path planning of other self-mobile devices fails, recording the other self-mobile devices in the stack, and performing path planning for the obstructing self-mobile devices on the paths planned by other self-mobile devices; if the path planning of the obstructing self-mobile devices is successful, performing path planning for the self-mobile devices recorded in the stack; if the path planning of the obstructing self-mobile devices fails, treating the obstructing self-mobile devices as other self-mobile devices, and returning to the step of recording the other self-mobile devices in the stack.

[0015] According to one aspect of an embodiment of the present application, the present application provides a scheduling device for a mobile device, including:

[0016] The device determination module is used to detect whether there is a standby self-moving device on the target path in response to a command to control the target self-moving device to move to the designated station; the target path is the path that the target self-moving device moves from the current position to the designated station;

[0017] A path planning module, for planning the path of the standby self-mobile device on the target path if there is a standby self-mobile device on the target path, so as to move the standby self-mobile device to an idle station outside the designated station;

[0018] The mobile control module is used to control the target to move from the mobile device to a designated platform after the standby mobile device moves to an idle platform.

[0019] According to one aspect of an embodiment of the present application, the present application provides a computer medium having a computer program stored thereon, and when the computer program is executed by a processor, the scheduling method for a self-mobile device provided in any embodiment of the present application is implemented.

[0020] According to one aspect of an embodiment of the present application, the present application provides a self-moving device, including: a vehicle body, including a body and wheels; and at least one processor and a memory, at least one processor executing a computer program stored in the memory to enable the self-moving device to implement the scheduling method of the self-moving device provided in any embodiment of the present application.

[0021] In the technical solution of the present application, it is first detected whether there is a standby self-moving device on the target path; if there is a standby self-moving device on the target path, the path planning is first performed on the standby self-moving device on the target path to move the standby self-moving device to an idle platform outside the designated platform; when the standby self-moving device moves to the idle platform, the target self-moving device is controlled to move to the designated platform; in this way, the standby self-moving devices on the target path can be cleared first, and the target self-moving device can be controlled to move directly to the designated platform without being blocked. The target self-moving device does not need to brake in the process of moving to the designated platform and move after unlocking, which avoids frequent blocking of the self-moving device, improves the working efficiency of the self-moving device, and reduces the time for unlocking the self-moving device.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 The flowchart of the scheduling method of the self-equipment device provided by an embodiment of the present application is schematically shown.

[0025] Figure 2 The following is a schematic diagram schematically showing one of the scenarios to which the present application is applicable.

[0026] Figure 3 The following is a schematic diagram schematically showing one of the scenarios to which the present application is applicable.

[0027] Figure 4 The following is a schematic diagram schematically showing one of the scenarios to which the present application is applicable.

[0028] Figure 5 A flowchart of a scheduling method for a mobile device provided by an embodiment of the present application is schematically shown.

[0029] Figure 6 The structural diagram of the scheduling device of the self-moving equipment provided by an embodiment of the present application is schematically shown.

[0030] Figure 7 The structural diagram of a self-moving device provided in an embodiment of the present application is schematically shown.

[0031] Figure 8 The block diagram schematically shows a computer system structure of a self-mobile device for implementing an embodiment of the present application. DETAILED DESCRIPTION

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0033] like Figure 1 As shown, the present application provides a scheduling method for a self-equipped device, the method includes S110 to S130, which are as follows:

[0034] S110, in response to a command to control a target self-moving device to move to a designated station, detecting whether there is a standby self-moving device on a target path; the target path is a path that the target self-moving device passes through when moving from a current position to the designated station.

[0035] Specifically, the autonomous mobile device may be an automated guided vehicle, a sweeping robot or a delivery robot. The target autonomous mobile device refers to an autonomous mobile device that needs to be moved to a designated station, and the standby autonomous mobile device refers to an autonomous mobile device that blocks the target autonomous mobile device.

[0036] like Figure 2 As shown, the circular frame represents the platform; the number in the circular frame represents the platform number; the vertical lines in the circular frame indicate that the platform has been docked by a self-moving device or the platform is faulty, and other self-moving devices can no longer be parked; the square frame represents the self-moving device; the straight line represents the route that the self-moving device can move, and the path planning of the self-moving device is performed, that is, finding the route that the self-moving device can move to the designated platform. The self-moving device is docked on the platform or in the path when there is no operation task. For example, the self-moving device AGV1, self-moving device AGV2, self-moving device AGV3 and self-moving device AGV4 without operation tasks are all docked on the path. Assuming that the target self-moving device is self-moving device AGV2 and the designated platform is platform 8, then the target path is the path of the target self-moving device AGV2 moving from the current position to the designated platform 8, and it is detected whether there is a standby self-moving device on the target path.

[0037] S120: If there is a standby self-mobile device on the target path, perform path planning for the standby self-mobile device on the target path to move the standby self-mobile device to an idle platform outside the designated platform.

[0038] Specifically, an idle station refers to a station where no self-mobile equipment is parked and is not a designated station, such as Figure 2 3, 4 and 5 in the target path. Path planning for the standby self-mobile device on the target path means confirming the movable path of the standby self-mobile device on the target path, and then generating the moving path of the standby self-mobile device based on the current idle platform and the movable path of the self-mobile device on the target path, so that the standby self-mobile device moves to an idle platform other than the designated platform, thereby clearing the standby self-mobile device on the target path.

[0039] According to an embodiment provided by the present application, path planning is performed on a standby self-mobile device on a target path to move the standby self-mobile device to an idle platform outside a designated platform, including: performing path planning on the standby self-mobile device on the target path according to currently existing idle platforms; detecting whether the path planning of the standby self-mobile device is successful, where successful path planning means that the standby self-mobile device can move to a path at an idle platform outside the designated platform according to the planned path; if the path planning of the standby self-mobile device is successful, moving the standby self-mobile device to an idle platform outside the designated platform according to the planned path.

[0040] Specifically, Figure 2 As shown, the target self-mobile device AGV2 moves to the target moving path of the designated station 8, and the standby self-mobile device AGV3 blocks the target self-mobile device AGV2, so the standby self-mobile device AGV3 is routed. Since the stations 4, 5, 6, 12, 13, or 14 other than the designated station 8 are all idle stations, the standby self-mobile device AGV3 can be controlled to stop at any one of the above stations, for example, the standby self-mobile device AGV3 stops at station 4. Then, it is detected again that there is a standby self-mobile device AGV4 on the target path that blocks the target self-mobile device AGV2, so the standby self-mobile device AGV4 is routed, and at this time, the stations 5, 6, 12, 13, or 14 are all idle stations, so the standby self-mobile device AGV4 can be controlled to stop at any one of the above stations, for example, the standby self-mobile device AGV3 stops at station 5. It should be understood that the standby self-mobile device can park at any idle platform outside the designated platform, which will not be listed here.

[0041] According to an embodiment provided by the present application, after detecting whether the path planning of the standby self-mobile device is successful, the method provided by the present application also includes: if the path planning of the standby self-mobile device fails, determining other self-mobile devices that hinder the standby self-mobile device; after performing path planning on other self-mobile devices, continuing to perform path planning on the standby self-mobile device to move the standby self-mobile device to an idle platform outside the designated platform.

[0042] Specifically, other autonomous mobile devices refer to standby autonomous mobile devices that prevent the standby autonomous mobile devices from moving to the idle platform. Figure 3 As shown, the designated station of the target self-mobile device AGV2 is station 8, so the standby self-mobile device AGV3 on the target path blocks the target self-mobile device AGV2. When the standby self-mobile device AGV3 is planning the path, since the stations 4 and 12 adjacent to the standby self-mobile device AGV3 are not idle stations, and the standby self-mobile device AGV3 is located between the target self-mobile device AGV2 and the standby self-mobile device AGV4, the standby self-mobile device AGV3 has nowhere to avoid, and the path planning of the standby self-mobile device AGV3 fails, that is, the standby self-mobile device AGV4 is other self-mobile device AGV4. Therefore, the standby self-mobile device AGV3 can only wait for other self-mobile device AGV4 to plan the path, and after other self-mobile device AGV4 stops at idle station 5, idle station 13, idle station 6 or idle station 14, the standby self-mobile device AGV3 continues to plan the path, so that the standby self-mobile device AGV3 stops at the designated station 8 and the idle stations other than the stations where other self-mobile device AGV4 stops.

[0043] According to an embodiment provided by the present application, after performing path planning on other self-mobile devices, continuing to perform path planning on the standby self-mobile devices includes: first recording the target self-mobile device in a stack, and then recording the standby self-mobile device that failed in path planning in the stack; wherein the stack follows a first-in-last-out rule; after the path planning of other self-mobile devices is successful, obtaining the standby self-mobile device from the stack for path planning.

[0044] Specifically, a stack is a linear table that allows insertion or deletion at only one end and follows the rules of first-in, last-out and last-in, first-out. Figure 3As shown, the designated station of the target autonomous mobile device AGV2 is station 8, and the standby autonomous mobile device AGV3 located on the target path blocks the target autonomous mobile device AGV2. Before the standby autonomous mobile device AGV3 is routed, the target autonomous mobile device AGV2 is first recorded in the stack. Then the standby autonomous mobile device AGV3 is routed, and it is found that other autonomous mobile devices AGV4 also block the standby autonomous mobile device AGV3. Therefore, before the other autonomous mobile devices AGV4 are routed, the standby autonomous mobile device AGV3 that failed in the route planning is first recorded in the stack. It can be seen that the target autonomous mobile device AGV2 is recorded in the stack before the standby autonomous mobile device AGV3. After the other autonomous mobile devices AGV4 successfully move to the idle station, the standby autonomous mobile device AGV3 is first extracted from the stack for route planning. At this time, the other autonomous mobile devices AGV4 do not block the standby autonomous mobile device AGV3 from moving to the idle station, so the route planning of the standby autonomous mobile device AGV3 is successful. Then, the target autonomous mobile device AGV2 is extracted from the stack for path planning. At this time, there is no standby autonomous mobile device on the target path, and the target autonomous mobile device AGV2 can move directly to the designated station 8. Through the method of this embodiment, after the path planning of other autonomous mobile devices is successful, the standby autonomous mobile devices with failed path planning recorded at the back can be firstly path planned, and then the target autonomous mobile device recorded at the back can be controlled to move to the designated station, so that the target autonomous mobile device will not be blocked in the process of moving to the designated station, thereby improving the control efficiency of the autonomous mobile device.

[0045] According to an embodiment provided by the present application, after the path planning of other self-mobile devices is successful, after the standby self-mobile devices are obtained from the stack for path planning, the method provided by the present application also includes: detecting whether the number of self-mobile devices recorded in the stack is 1, and whether the self-mobile devices recorded in the stack are target self-mobile devices; if the number of self-mobile devices recorded in the stack is 1, and the self-mobile devices recorded in the stack are target self-mobile devices, then determining that the standby self-mobile devices on the target path move to an idle platform.

[0046] Specifically, when the number of self-moving devices recorded in the stack is 1, and the self-moving device recorded in the stack is the target self-moving device, it means that the path planning of the standby self-moving devices has been successful, and the self-moving devices remaining in the stack are the target self-moving devices recorded first. By detecting whether the number of self-moving devices recorded in the stack is 1, and whether the self-moving device recorded in the stack is the target self-moving device, it can be ensured that the target self-moving device can be accurately moved to the designated platform, avoiding moving the target self-moving device to an idle platform other than the indicated platform.

[0047] According to an embodiment provided by the present application, after the path planning of other self-mobile devices is successful, before obtaining the standby self-mobile devices from the stack for path planning, the method provided by the present application also includes: if the path planning of other self-mobile devices fails, determining whether there are remaining self-mobile devices on the target path; if there are no remaining self-mobile devices, clearing the stack first, and then performing path planning for other self-mobile devices; if there are remaining self-mobile devices, using the other self-mobile devices as standby self-mobile devices, using the remaining self-mobile devices as other self-mobile devices, and returning to the step of recording the standby self-mobile devices for which the path planning failed in the stack.

[0048] Specifically, Figure 4 As shown, the target autonomous mobile device AGV2 is blocked by the standby autonomous mobile device AGV3 from moving to the target path of the designated station 8, the standby autonomous mobile device AGV3 is blocked by the standby autonomous mobile device AGV4, and there is no idle station on the target path, so the standby autonomous mobile device AGV3 and the standby autonomous mobile device AGV4 cannot move to the idle station on the target path. In addition, in this embodiment, the path planning is first performed on the standby self-mobile device AGV3 that blocks the target self-mobile device AGV2, but the path planning of the standby self-mobile device AGV3 fails, and then the standby self-mobile device AGV4 is used as other self-mobile devices; if there are no remaining self-mobile devices after the other self-mobile devices AGV4, the self-mobile devices in the stack are cleared first, and then the paths of the other self-mobile devices AGV4 are planned; if there are still remaining self-mobile devices AGV5 after the other self-mobile devices AGV4, the other self-mobile devices AGV4 are used as standby self-mobile devices AGV4, and the remaining self-mobile devices AGV5 are used as other self-mobile devices AGV5, and the step of recording the standby self-mobile devices for which the path planning fails in the stack is returned, that is, the standby self-mobile device AGV4 for which the path planning fails is recorded in the stack.

[0049] According to an embodiment provided by the present application, after clearing the stack first and then performing path planning for other self-mobile devices, the method provided by the present application also includes: if the path planning of other self-mobile devices fails, the other self-mobile devices are recorded in the stack, and path planning is performed for the obstructing self-mobile devices on the paths planned by other self-mobile devices; if the path planning of the obstructing self-mobile devices is successful, path planning is performed for the self-mobile devices recorded in the stack; if the path planning of the obstructing self-mobile devices fails, the obstructing self-mobile devices are treated as other self-mobile devices, and the step of recording the other self-mobile devices in the stack is returned.

[0050] Specifically, the obstructed mobile device refers to a mobile device that obstructs other mobile devices from moving to an idle platform, and the obstructed mobile devices include standby mobile devices and target mobile devices. Figure 4As shown, after the stack is cleared first and then the path planning is performed for other self-mobile device AGV4, the path planning of other self-mobile device AGV4 fails because other self-mobile device AGV4 is also blocked by obstructing self-mobile device AGV3, obstructing self-mobile device AGV2 and obstructing self-mobile device AGV1. Other self-mobile device AGV4 is recorded in the stack, and the path planning is performed for obstructing self-mobile device AGV3, obstructing self-mobile device AGV2 and obstructing self-mobile device AGV1 respectively. Since there are no idle platforms on both sides of obstructing self-mobile device AGV3 and obstructing self-mobile device AGV2, and obstructing self-mobile device AGV1 also blocks obstructing self-mobile device AGV2, the obstructing self-mobile device AGV3 is first recorded in the stack, and then the obstructing self-mobile device AGV2 is recorded in the stack. At this time, the obstructing self-mobile device AGV1 can move directly to the idle platform 1, 7, 9 or 10. Assuming that the obstructing self-mobile device AGV1 moves to the idle platform 10, the path planning of the self-mobile devices in the stack can be performed at this time. Therefore, the obstructing mobile device AGV2 is first extracted from the stack for path planning, and the obstructing mobile device AGV2 is controlled to move to the idle platform 1; then the obstructing mobile device AGV3 is extracted from the stack for path planning, and the obstructing mobile device AGV3 is controlled to move to the idle platform 9; finally, the other mobile device AGV4 is extracted from the stack for path planning, and the other mobile device AGV4 is controlled to move to the idle platform 7. Through the above steps, all the standby mobile devices that were originally blocked before the target mobile device AGV2 went to the designated platform 8 have been moved to the idle platform, and now the target mobile device AGV2 can be controlled to move from platform 1 to the designated platform 8.

[0051] S130, when the standby self-mobile device moves to an idle platform, controlling the target self-mobile device to move to a designated platform.

[0052] Specifically, when the standby self-mobile device moves to an idle station, there is no standby self-mobile device that blocks the target self-mobile device on the target path, and the target self-mobile device will not be blocked in the process of moving to the designated station, so the target self-mobile device is controlled to move to the designated station.

[0053] In the technical solution of the present application, it is first detected whether there is a standby self-moving device on the target path; if there is a standby self-moving device on the target path, the path planning is first performed on the standby self-moving device on the target path to move the standby self-moving device to an idle platform outside the designated platform; when the standby self-moving device moves to the idle platform, the target self-moving device is controlled to move to the designated platform; in this way, the standby self-moving devices on the target path can be cleared first, and the target self-moving device can be controlled to move directly to the designated platform without being blocked. The target self-moving device does not need to brake in the process of moving to the designated platform and move after unlocking, which avoids frequent blocking of the self-moving device, improves the working efficiency of the self-moving device, and reduces the time for unlocking the self-moving device.

[0054] In one embodiment provided in the present application, Figure 5 As shown, the present application provides a scheduling method for a self-mobile device, which is as follows:

[0055] S511, start. This step is triggered by a command to control the target self-mobile device to move to a designated station, or other preset commands. After executing this step, the process of path planning for the target self-mobile device can be entered.

[0056] S512, planning a path for the target self-mobile device. Execute S512 to find a target path for the target self-mobile device to move to the target station.

[0057] S520: Whether there is a standby self-mobile device on the target path (the standby self-mobile device is not in the stack, and the stack is empty).

[0058] Specifically, this step can determine whether there is a standby self-mobile device that blocks the target self-mobile device from moving to the target station; if there is a standby self-mobile device on the target path, execute S521. If there is no standby self-mobile device on the target path, directly execute S523.

[0059] S521. Record the blocked self-moving equipment in a stack.

[0060] Specifically, if the path planning is performed for the target self-mobile device, the target self-mobile device is recorded in the stack; if the path planning is performed for the standby self-mobile device, the standby self-mobile device is recorded in the stack.

[0061] S522: Path planning is performed for the standby self-mobile device that obstructs the self-mobile device.

[0062] Specifically, if the path planning is performed for the target self-mobile device, this step is to plan the standby self-mobile device that blocks the target self-mobile device; then continue to execute S530.

[0063] S530: Whether the path planning is successful.

[0064] Specifically, if the path planning of the standby self-mobile device is successful, S531 is executed. If the path planning of the standby self-mobile device fails, S550 is executed.

[0065] S531, push the planned path into the solution set, and detect the number of self-moving devices in the stack.

[0066] Specifically, the solution set is a set of uniformly recorded planned paths, which may be the name of a storage area or simply a name summarizing the planned paths. After detecting the number of mobile devices in the stack, S540 is executed.

[0067] S540: Whether the number of self-moving devices is 1, and whether the self-moving device recorded in the stack is the target self-moving device.

[0068] Specifically, assuming that the path planning of a standby self-mobile device that blocks the target self-mobile device is successful, and the standby self-mobile device is moved to an idle platform, then the self-mobile device in the stack is the target self-mobile device. If the number of self-mobile devices is not 1, or the self-mobile device recorded in the stack is not the target self-mobile device, execute S541. If the number of self-mobile devices is 1, and the self-mobile device recorded in the stack is the target self-mobile device, return to execute S512.

[0069] S541, popping the first autonomous mobile device from the stack to perform path planning.

[0070] Specifically, the stack in this embodiment follows the rules of first-in, last-out, and last-in, first-out, so the first element extracted from the stack is the element entered into the stack last. After executing S541, the process returns to execute S530.

[0071] S550: Whether the path planning fails due to being blocked by a standby self-mobile device not in the stack.

[0072] Specifically, if the path planning of the self-mobile device fails due to being blocked by a standby self-mobile device not in the stack, execute S521; if the path planning of the self-mobile device fails due to being blocked by a standby self-mobile device not in the stack, indicating that the self-mobile device has nowhere to avoid, execute S551.

[0073] S551, clear the stack and perform path planning for the self-moving device currently to be planned.

[0074] Specifically, the stack is cleared to change the priority of planning the self-moving device, so as to find a path to move the standby self-moving device to the idle platform. When planning the path of the self-moving device to be planned, since the self-moving device has nowhere to avoid, S521 is executed to record the self-moving device to be planned in the stack.

[0075] S523, controlling the target to move from the mobile device to the designated station.

[0076] Specifically, after all the standby slave mobile devices are moved to the idle platform according to the above steps, the target slave mobile device is controlled to move from the current position to the designated platform, and then S524 is executed.

[0077] S524, end. After executing this step, the process of planning the path for the target mobile device can be exited.

[0078] The following introduces an apparatus embodiment of the present application, which can be used to execute the scheduling method of the self-equipped device in the above-mentioned embodiment of the present application. Figure 6 The structural block diagram of the scheduling device of the self-equipment device provided in the embodiment of the present application is schematically shown. Figure 6 As shown, the scheduling device for a mobile device provided by the present application includes:

[0079] The device determination module 610 is used to detect whether there is a standby self-moving device on a target path in response to a command to control the target self-moving device to move to a designated station; the target path is a path that the target self-moving device moves from a current position to the designated station;

[0080] A path planning module 620 is used for planning the path of the standby self-mobile device on the target path if there is a standby self-mobile device on the target path, so as to move the standby self-mobile device to an idle station outside the designated station;

[0081] The movement control module 630 is used to control the target self-mobile device to move to a designated station after the standby self-mobile device moves to an idle station.

[0082] According to an embodiment provided by the present application, the path planning module 620 is used to plan the path of the standby self-mobile device on the target path according to the currently existing idle platforms; detect whether the path planning of the standby self-mobile device is successful, and successful path planning means that the standby self-mobile device can move to an idle platform outside the designated platform according to the planned path; if the path planning of the standby self-mobile device is successful, the standby self-mobile device is moved to an idle platform outside the designated platform according to the planned path.

[0083] According to an embodiment provided by the present application, the path planning module 620 is also used to, after detecting whether the path planning of the standby self-mobile device is successful, determine other self-mobile devices that hinder the standby self-mobile device if the path planning of the standby self-mobile device fails; after performing path planning on other self-mobile devices, continue to perform path planning on the standby self-mobile device to move the standby self-mobile device to an idle platform outside the designated platform.

[0084] According to an embodiment provided by the present application, the path planning module 620 is also used to first record the target self-mobile device in a stack, and then record the standby self-mobile device that failed the path planning in the stack; wherein the stack follows the first-in-last-out rule; after the path planning of other self-mobile devices is successful, the standby self-mobile device is obtained from the stack for path planning.

[0085] According to an embodiment provided by the present application, the path planning module 620 is also used to obtain the standby self-mobile device from the stack for path planning after the path planning of other self-mobile devices is successful, and then detect whether the number of self-mobile devices recorded in the stack is 1, and whether the self-mobile device recorded in the stack is the target self-mobile device; if the number of self-mobile devices recorded in the stack is 1, and the self-mobile device recorded in the stack is the target self-mobile device, then determine that the standby self-mobile device on the target path moves to an idle platform.

[0086] According to an embodiment provided by the present application, the path planning module 620 is also used to, after the path planning of other self-mobile devices is successful, before obtaining the standby self-mobile devices from the stack for path planning, if the path planning of other self-mobile devices fails, determine whether there are remaining self-mobile devices on the target path; if there are no remaining self-mobile devices, clear the stack first, and then plan the paths for other self-mobile devices; if there are remaining self-mobile devices, use the other self-mobile devices as standby self-mobile devices, use the remaining self-mobile devices as other self-mobile devices, and return to the step of recording the standby self-mobile devices for which the path planning failed in the stack.

[0087] According to an embodiment provided by the present application, the path planning module 620 is also used to first clear the stack and then perform path planning for other self-mobile devices. If the path planning of other self-mobile devices fails, the other self-mobile devices are recorded in the stack, and path planning is performed for the obstructing self-mobile devices on the paths planned by other self-mobile devices; if the path planning of the obstructing self-mobile devices is successful, path planning is performed for the self-mobile devices recorded in the stack; if the path planning of the obstructing self-mobile devices fails, the obstructing self-mobile devices are treated as other self-mobile devices, and the step of recording the other self-mobile devices in the stack is returned.

[0088] It should be known that the specific implementation of the scheduling device for the self-mobile device provided in the present application has been explained in the corresponding method embodiment and will not be repeated here.

[0089] like Figure 7 As shown, the present application provides a self-moving device 700, including: a vehicle body 710, at least one processor 720 and a memory 730; the vehicle body 710 includes a body 711 and wheels 712; 77 at least one processor 720 executes a computer program stored in the memory 730 to enable the self-moving device to implement the scheduling method of the self-moving device provided by any embodiment of the present application.

[0090] Specifically, the processor 720 controls the self-mobile device 700 to move to the designated station in response to the command to control the self-mobile device 700 to move to the designated station according to the scheduling method for the self-mobile device provided in any embodiment of the present application. When the path for the self-mobile device 700 to move to the designated station is cleared, the wheels 712 of the self-mobile device 700 are controlled to rotate so that the self-mobile device 700 moves to the designated station.

[0091] It should be understood that the specific implementation of the self-moving device provided in this application has been explained in the corresponding method embodiment and will not be repeated here.

[0092] Figure 8 The block diagram schematically shows a computer system structure of a self-mobile device for implementing an embodiment of the present application.

[0093] It should be noted that Figure 8 The computer system 700 of the mobile device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0094] like Figure 8 As shown, the computer system 800 includes a processor 801, which can be a CPU (Central Processing Unit) or an MCU (Microcontroller Unit). The processor 801 can perform various appropriate actions and processes according to the program stored in the read-only memory 802 (Read-Only Memory, ROM) or the program loaded from the storage part 808 to the random access memory 803 (Random Access Memory, RAM). In the random access memory 803, various programs and data required for system operation are also stored. The processor 801, the read-only memory 802 and the random access memory 803 are connected to each other through a bus 804. The input / output interface 805 (Input / Output interface, i.e., I / O interface) is also connected to the bus 804.

[0095] The following components are connected to the input / output interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a local area network card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the input / output interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed so that a computer program read therefrom is installed into the storage section 808 as needed.

[0096] In particular, according to an embodiment of the present application, the processes described in the various method flow charts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 809, and / or installed from a removable medium 811. When the computer program is executed by the processor 801, various functions defined in the system of the present application are executed.

[0097] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0098] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0099] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0100] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the implementation method according to the present application.

[0101] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application.

[0102] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for dispatching a self-moving device, It is characterized in that include: In response to a command to control a target self-moving device to move to a designated station, detecting whether there is a standby self-moving device on the target path; The target path is the path that the target takes when the mobile device moves from the current location to the designated station; If the standby self-mobile device exists on the target path, performing path planning for the standby self-mobile device on the target path to move the standby self-mobile device to an idle station outside the designated station; When the standby self-mobile device moves to the idle station, the target self-mobile device is controlled to move to the designated station.

2. The method for dispatching a self-moving device according to claim 1, It is characterized in that The step of performing path planning on the standby self-mobile device on the target path to move the standby self-mobile device to an idle station outside the designated station includes: Performing path planning for the standby self-mobile device on the target path according to the currently existing idle stations; Detecting whether the path planning of the standby self-mobile device is successful, where successful path planning means that the standby self-mobile device can move to a path at an idle station other than the designated station according to the planned path; If the path planning of the standby self-mobile device is successful, the standby self-mobile device is moved to the idle station outside the designated station according to the planned path.

3. The method for dispatching a self-moving device as claimed in claim 2, It is characterized in that After detecting whether the path planning of the standby self-mobile device is successful, the method further includes: If the path planning of the standby self-mobile device fails, determining other self-mobile devices that hinder the standby self-mobile device; After the paths of the other self-mobile devices are planned, the path planning of the standby self-mobile device is continued to be performed to move the standby self-mobile device to the idle station outside the designated station.

4. The method for dispatching a self-moving device as claimed in claim 3, It is characterized in that After performing path planning on the other self-mobile devices, continuing to perform path planning on the standby self-mobile devices includes: Firstly, the target self-mobile device is recorded in a stack, and then the standby self-mobile device that fails in path planning is recorded in the stack; wherein the stack follows the first-in-last-out rule; After the path planning of the other self-mobile devices is successful, the standby self-mobile devices are obtained from the stack for path planning.

5. The method for dispatching a self-moving device as claimed in claim 4, It is characterized in that After the path planning of the other self-mobile devices is successful, after the standby self-mobile devices are obtained from the stack for path planning, the method further includes: Detecting whether the number of self-moving devices recorded in the stack is 1, and whether the self-moving device recorded in the stack is the target self-moving device; If the number of self-mobile devices recorded in the stack is 1, and the self-mobile device recorded in the stack is the target self-mobile device, it is determined that the standby self-mobile device on the target path moves to the idle station.

6. The method for dispatching a self-moving device according to claim 4, It is characterized in that After the path planning of the other self-mobile devices is successful, before the standby self-mobile devices are obtained from the stack for path planning, the method further includes: If the path planning of the other self-moving devices fails, determining whether there are any remaining self-moving devices on the target path; If there are no remaining self-moving devices, first clear the stack, and then perform path planning for the other self-moving devices; If there are remaining self-mobile devices, the other self-mobile devices are used as the standby self-mobile devices, the remaining self-mobile devices are used as the other self-mobile devices, and the process returns to the step of recording the standby self-mobile devices for which path planning fails in the stack.

7. The method for scheduling a self-moving device as claimed in claim 6, It is characterized in that After clearing the stack and then performing path planning for the other self-moving devices, the method further includes: If the path planning of the other self-moving devices fails, the other self-moving devices are recorded in the stack, and path planning is performed for the obstructing self-moving devices on the path planned by the other self-moving devices; If the path planning of the self-moving device is successful, performing path planning on the self-moving device recorded in the stack; If the path planning of the obstructing self-mobile device fails, the obstructing self-mobile device is used as the other self-mobile device, and the process returns to the step of recording the other self-mobile device in the stack.

8. A dispatching device for a self-moving device, It is characterized in that include: a device determination module, for detecting whether there is a standby self-moving device on the target path in response to a command to control the target self-moving device to move to a designated station; The target path is the path that the target takes when the mobile device moves from the current location to the designated station; a path planning module, configured to plan a path for the standby self-mobile device on the target path if the standby self-mobile device exists on the target path, so as to move the standby self-mobile device to an idle station outside the designated station; The movement control module is used to control the target self-mobile device to move to the designated station after the standby self-mobile device moves to the idle station.

9. A computer readable medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the scheduling method for a self-mobile device as described in any one of claims 1 to 7 is implemented.

10. A self-propelled device, It is characterized in that include: The vehicle body, including the body and wheels; as well as At least one processor and a memory, wherein the at least one processor executes a computer program stored in the memory to enable the self-mobile device to implement the scheduling method for the self-mobile device as described in any one of claims 1 to 7.

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